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diff --git a/.gitignore b/.gitignore
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diff --git a/README.md b/README.md
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+---
+license: apache-2.0
+---
+数据集文件元信息以及数据文件，请浏览“数据集文件”页面获取。
+
+当前数据集卡片使用的是默认模版，数据集的贡献者未提供更加详细的数据集介绍，但是您可以通过如下GIT Clone命令，或者ModelScope SDK来下载数据集
+
+#### 下载方法 
+:modelscope-code[]{type="sdk"}
+:modelscope-code[]{type="git"}
+
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+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "origin-generalization/episode_000003_1.hdf5": [
+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "origin-generalization/episode_000004.hdf5": [
+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "origin-generalization/episode_000004_1.hdf5": [
+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "origin-generalization/episode_000005.hdf5": [
+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "origin-generalization/episode_000005_1.hdf5": [
+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "origin-generalization/episode_000006.hdf5": [
+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "origin-generalization/episode_000007.hdf5": [
+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "origin-generalization/episode_000009.hdf5": [
+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "origin-generalization/episode_000009_1.hdf5": [
+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "origin-generalization/episode_000010.hdf5": [
+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "origin-generalization/episode_000010_1.hdf5": [
+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "origin-generalization/episode_000011.hdf5": [
+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "origin-generalization/episode_000012.hdf5": [
+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
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+  [
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+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
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+  [
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+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
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+  ],
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+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
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+   "metrics/timeseries/stage_bowl_in_mw_current"
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+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
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+   "metrics/timeseries/stage_bowl_in_mw_current"
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+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
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+   "metrics/timeseries/stage_bowl_in_mw_current"
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+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
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+   "metrics/timeseries/stage_bowl_in_mw_current"
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
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+   "metrics/timeseries/stage_bowl_in_mw_current"
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+   "labels/box3d/obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
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+   "metrics/timeseries/stage_bowl_in_mw_current"
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+  [
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+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
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+   "metrics/timeseries/stage_bowl_in_mw_current"
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+   "labels/box3d/obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
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+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "origin-generalization/episode_000021.hdf5": [
+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "origin-generalization/episode_000021_1.hdf5": [
+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
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+  [
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+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
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+   "metrics/timeseries/stage_bowl_in_mw_current"
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+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
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+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
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+  [
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+   "labels/box3d/obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
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+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
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+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
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+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
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+   "metrics/timeseries/stage_bowl_in_mw_current"
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+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
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+   "metrics/timeseries/stage_bowl_in_mw_current"
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+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
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+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
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+   "labels/box3d/obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
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+  [
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+   "labels/box3d/obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
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+  ],
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+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
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+  ],
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+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
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+  ],
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+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
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+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
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+  ],
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+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
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+   "metrics/timeseries/stage_bowl_in_mw_current"
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+   "labels/box3d/obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
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+  ],
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+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
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+  ],
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+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
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+   "metrics/timeseries/stage_bowl_in_mw_current"
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+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
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+  ],
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+  ],
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+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/stage_bowl_in_mw_completed"
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+   "metrics/timeseries/stage_bowl_in_mw_current"
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+   "labels/box3d/obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
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+  ],
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+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
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+  ],
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+  ],
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+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
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+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
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+  ],
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+   "labels/box3d/obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
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+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
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+  ],
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+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
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+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
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+   "labels/box3d/obj_024_bowl_3"
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+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
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+  ],
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+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
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+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
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+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
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+  ],
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+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "origin-generalization/episode_000047_1.hdf5": [
+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "origin-generalization/episode_000048.hdf5": [
+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "origin-generalization/episode_000048_1.hdf5": [
+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "origin-generalization/episode_000049.hdf5": [
+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "origin-generalization/episode_000049_1.hdf5": [
+  [
+   "labels/box3d/obj_029_plate_3",
+   "labels/box3d/obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ]
+}
\ No newline at end of file
diff --git a/dataset/44_microwave_bowl_loading/_rekey_metrics_box3d_backup_505176.json b/dataset/44_microwave_bowl_loading/_rekey_metrics_box3d_backup_505176.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cfee029443a4a3d4587c0e3e4a720d06be05a7f
--- /dev/null
+++ b/dataset/44_microwave_bowl_loading/_rekey_metrics_box3d_backup_505176.json
@@ -0,0 +1,4602 @@
+{
+ "replay-generalization/episode_000000.hdf5": [
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "replay-generalization/episode_000000_1.hdf5": [
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "replay-generalization/episode_000001.hdf5": [
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "replay-generalization/episode_000001_1.hdf5": [
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "replay-generalization/episode_000002.hdf5": [
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "replay-generalization/episode_000002_1.hdf5": [
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "replay-generalization/episode_000003.hdf5": [
+  [
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+  ],
+  [
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+  ],
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+  ],
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+  ],
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+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
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+  ],
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+  ],
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+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
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+  ],
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+  ],
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+  ],
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+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
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+  ],
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+  ],
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+  ],
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+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
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+  ],
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+  ],
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+  ],
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+  ],
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+  ],
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+  ],
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+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
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+  ],
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+  ],
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+  ],
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+  ],
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+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
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+  ],
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+  ],
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+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
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+  ],
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+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
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+  ],
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+  ],
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+  ],
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+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
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+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
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+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
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+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
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+  ],
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+  ],
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+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
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+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
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+  [
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+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
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+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
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+   "metrics/timeseries/stage_bowl_in_mw_current"
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+  [
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+  ],
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+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
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+  ],
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+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
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+  ],
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+  [
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+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "replay-generalization/episode_000044_1.hdf5": [
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "replay-generalization/episode_000045.hdf5": [
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "replay-generalization/episode_000045_1.hdf5": [
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "replay-generalization/episode_000046.hdf5": [
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "replay-generalization/episode_000046_1.hdf5": [
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "replay-generalization/episode_000047.hdf5": [
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "replay-generalization/episode_000047_1.hdf5": [
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "replay-generalization/episode_000048.hdf5": [
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "replay-generalization/episode_000048_1.hdf5": [
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "replay-generalization/episode_000049.hdf5": [
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ],
+ "replay-generalization/episode_000049_1.hdf5": [
+  [
+   "metrics/timeseries/grasp_anti_slip_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_anti_slip_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_duration_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_duration_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_held_obj_029_plate_3",
+   "metrics/timeseries/grasp_held_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_hold_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_hold_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_kinematic_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_legacy_gsi_obj_029_plate_3",
+   "metrics/timeseries/grasp_legacy_gsi_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_lift_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_lift_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/grasp_motion_stability_score_obj_029_plate_3",
+   "metrics/timeseries/grasp_motion_stability_score_obj_024_bowl_3"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_completed",
+   "metrics/timeseries/stage_bowl_in_mw_completed"
+  ],
+  [
+   "metrics/timeseries/stage_plate_inside_current",
+   "metrics/timeseries/stage_bowl_in_mw_current"
+  ]
+ ]
+}
\ No newline at end of file
diff --git a/dataset/44_microwave_bowl_loading/_rekey_rop_backup_267065.json b/dataset/44_microwave_bowl_loading/_rekey_rop_backup_267065.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa04d76f188a99900e53ae11fd220d5ceac65700
--- /dev/null
+++ b/dataset/44_microwave_bowl_loading/_rekey_rop_backup_267065.json
@@ -0,0 +1,202 @@
+{
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+}
\ No newline at end of file