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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7269d6701211d782f3a6ad3923220301f4bfddbb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8e069210fd898eb357a674d51c2543171e4206b6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/resolved_config.yaml
@@ -0,0 +1,233 @@
+name: lab3_heat_2beaker_s03_plr_hta_00048
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Place beaker a on the heater platform.
+    Press the heater button to start heating.
+  layout_id: layout_00048
+  reproducibility:
+    enabled: true
+    layout_id: layout_00048
+    action_seed: 7544707110022933641
+    step_seeds:
+    - 4575888215738575954
+    - 3436277163877962503
+    - 6082843758319043955
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.1931
+      - 0.1931
+      'y':
+      - 0.2658
+      - 0.2658
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2262
+      - 0.2262
+      'y':
+      - -0.1438
+      - -0.1438
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3307
+      - 0.3307
+      'y':
+      - 0.0655
+      - 0.0655
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2109
+      - 0.2109
+      'y':
+      - -0.3578
+      - -0.3578
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.4
+      gripper_distances: 0.018
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      pickz_offset: -0.01
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff4a52cb6246b3ed99d752e476fb126df0fb2d68
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_0_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+      "reason": "executed",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "target": "heater_platform",
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+              0.8515396883469497
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+            "xy_threshold": 0.08,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+              "failed_keys": []
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+            "contact_point_source": "active_contact_pad_positions",
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+            "max_contact_point_contacted_z_stable_frames": 77,
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+              0.02107708434002964
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "heat_button",
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+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d0e6a6887c81fda268942e9f4422c63bdfb6ee4237bf2fc98504a2e2b0d1f847",
+    "visual_seed": 1314384884005100710,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5f8ee1cd55a33cee41e1e6d826a0be3270c0b77
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_10_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+              0.2673409045279123,
+              1.1606436939674696
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+            "gripper_position": [
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+              0.2622965719267626,
+              1.1531671337046518
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+              0.005044332601149726,
+              0.007476560262817733
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+            "object_to_gripper_z": 0.007476560262817733,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24282205290131587,
+              1.1606436939674696
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+              0.2673409045279123,
+              1.1606436939674696
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+              0.25508147871461406,
+              1.1606436939674696
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+              0.012259425813298253,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 355,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              -0.3606216342025819,
+              0.8515395589513536
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+              -0.3614571363912651,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18696359496465037,
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+            "gripper_away_ok": true,
+            "object_z": 0.8515395589513536,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
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+          "metrics": {
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+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007667924567008219,
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
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+              -0.061315566301345825,
+              0.03438001871109009
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+            "min_contact_pad_to_button": 0.021063533091079223,
+            "closest_contact_pad": [
+              0.12189164012670516,
+              -0.4177144169807434,
+              0.79020449187709
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+            "closest_contact_pad_button": [
+              0.12189164012670516,
+              -0.4177144169807434,
+              0.7691409587860107
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
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+              0.0,
+              0.021063533091079223
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5f24a74885a67218d23b5146d1e86d1615737996de192d6aeaaab456df68655a",
+    "visual_seed": 7076373654546618411,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..292b6a344c149dc2ff1fa433dc05f29937c65d7c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_11_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.2671471144272008,
+              1.1600439267394131
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+            "lift_margin": 0.29893723991071297,
+            "gripper_z": 1.1528624442246322,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21219853460143104,
+              0.26187467097023054,
+              1.1528624442246322
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+              0.005312318457370346,
+              0.005272443456970255,
+              0.007181482514780901
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+            "object_to_gripper_z": 0.007181482514780901,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24302427502047488,
+              1.1600439267394131
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+            "finger_b": [
+              0.20574214507301666,
+              0.2671471144272008,
+              1.1600439267394131
+            ],
+            "finger_midpoint": [
+              0.21162649906590902,
+              0.25508569472383785,
+              1.1600439267394131
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+            "object_minus_finger_midpoint": [
+              0.0058843539928923605,
+              0.012061419703362941,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.2099788865581678,
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+            "object_projection_between_fingers": 0.8077459448343067,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04786357418072611,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 360,
+            "max_stable_success_frames": 360,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
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+            },
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+          }
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              0.2716554789444213,
+              -0.36138768541603705,
+              0.8515395720194386
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+            "target_position": [
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+              -0.3625046428738399,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009000153343290608,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18395540573561503,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395720194386,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_missing_size": false,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
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+      "reason": "executed",
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+        "checker": {
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+          "metrics": {
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+            "max_contact_point_contacted_z_stable_frames": 78,
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+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007554314049286676,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.015807867050170843,
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+            "min_contact_pad_to_button": 0.021305842949178123,
+            "closest_contact_pad": [
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+              -0.4218825053465227,
+              0.7903309286475839
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+              -0.4187638759613037,
+              0.7692545652389526
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
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+              -0.0031186293852190072,
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
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+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "886bfb734bc02812fa0a16888302475f2998144a48908dedf38e3533adc4f98b",
+    "visual_seed": 2533373360360427519,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d049da6ae966eb8945dbae8cfdce9a64a54f398
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_12_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.2643569780256166,
+              1.1617312596882865
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+            "current_z": 1.1617312596882865,
+            "required_z": 0.8611068656426347,
+            "initial_z": 0.7611068656426347,
+            "lift_margin": 0.3006243940456518,
+            "gripper_z": 1.1543804044430948,
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+            "gripper_position": [
+              0.21463421898592872,
+              0.2592007361515258,
+              1.1543804044430948
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+              0.005273548065622635,
+              0.005156241874090806,
+              0.007350855245191745
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+            "object_to_gripper_z": 0.007350855245191745,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24006476506885144,
+              1.1617312596882865
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+              0.2643569780256166,
+              1.1617312596882865
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+              0.2142488227164429,
+              0.252210871547234,
+              1.1617312596882865
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+              0.00565894433510844,
+              0.012146106478382601,
+              0.0
+            ],
+            "finger_gap": 0.026799369662144145,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478195436153985,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.30217220634799113,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
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+          }
+        },
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              -0.35457511760153004,
+              0.8515395015011032
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+            "target_position": [
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+              -0.35557582498875606,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008991881615334285,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18489291668417976,
+            "gripper_away_threshold": 0.04,
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+            "object_z": 0.8515395015011032,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_missing_size": false,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PressSuccessChecker",
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+          "metrics": {
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+            "contact_point_source": "active_contact_pad_positions",
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+            "contact_point_seen_ok": true,
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+            "contact_point_contacted_z_ok": true,
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+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007496620362256473,
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+            "closest_active_finger_minus_button": [
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+            "min_contact_pad_to_button": 0.0210756749263592,
+            "closest_contact_pad": [
+              0.12230058759450915,
+              -0.41183510422706604,
+              0.7903879374614544
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+              -0.41183510422706604,
+              0.7693122625350952
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
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+              0.0,
+              0.0210756749263592
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "77867ca9b15d95afd87cc2f7b72010e0071612a84f9fb4bbb85d45ffdf0cf685",
+    "visual_seed": 7378345605712213885,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9205f59faec0261eb136f312c10bf24ae0c3a9d2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_13_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.22653357499997398,
+              0.2681112735461359,
+              1.161183003725939
+            ],
+            "current_z": 1.161183003725939,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3000764957111729,
+            "gripper_z": 1.1537677071053416,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22108886029510727,
+              0.2627966013531591,
+              1.1537677071053416
+            ],
+            "object_minus_gripper": [
+              0.00544471470486671,
+              0.0053146721929768215,
+              0.007415296620597367
+            ],
+            "object_to_gripper_xy": 0.007608591113747199,
+            "object_to_gripper_z": 0.007415296620597367,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22653357499997398,
+              0.243863441291309,
+              1.161183003725939
+            ],
+            "finger_b": [
+              0.21474502377097085,
+              0.2681112735461359,
+              1.161183003725939
+            ],
+            "finger_midpoint": [
+              0.22063929938547241,
+              0.25598735741872247,
+              1.161183003725939
+            ],
+            "object_minus_finger_midpoint": [
+              0.005894275614501565,
+              0.012123916127413426,
+              0.0
+            ],
+            "finger_gap": 0.02696158951428968,
+            "fingertip_max_gap": 0.09083941870034695,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013480794757144816,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161183003725939,
+            "object_top_z": 1.2111145178537974,
+            "finger_top_clearance": 0.049931514127858456,
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+            "object_projection_between_fingers": 0.808825534091154,
+            "object_to_finger_line_xy": 0.010602001509473402,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04791970935017348,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.39210541330951504,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 361,
+            "max_stable_success_frames": 361,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26891060417765156,
+              -0.35661388154862433,
+              0.8515395723183578
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+            "target_position": [
+              0.2594070090419912,
+              -0.35792223561040903,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00959323255495954,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18574223222951122,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395723183578,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752960036754556,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08620734551615535,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1542200407067525,
+            "release_required_pad_clearance": 0.053103672758077675,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 1.2347790644738292,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.007422029972076416,
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+            "min_ee_to_button": 0.035105433629264875,
+            "contact_distance_threshold": 0.08,
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+            "max_z_decrease_with_ee_contact": 0.007422029972076416,
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+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021091398073372125,
+            "contact_point_source": "active_contact_pad_positions",
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+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007422029972076416,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007422056095826485,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.4141837060451507,
+              0.7768088579177856
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+            "button_final": [
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+            "closest_ee": [
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+              -0.4141808450222015,
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+            "min_active_finger_to_button": 0.1452696825014746,
+            "closest_active_finger": [
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+              -0.4765048027038574,
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+            "closest_active_finger_button": [
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+              -0.4141814708709716,
+              0.7763665318489075
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12661556154489514,
+              -0.0623233318328858,
+              0.03446131944656372
+            ],
+            "min_contact_pad_to_button": 0.021091398073372125,
+            "closest_contact_pad": [
+              0.11508744955062863,
+              -0.4141808450222015,
+              0.7904782260190814
+            ],
+            "closest_contact_pad_button": [
+              0.11508744955062863,
+              -0.4141808450222015,
+              0.7693868279457092
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021091398073372125
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7465c6e11440d504faed3b5e3594e6df7ea305a931e046fdbca82af85de5eabd",
+    "visual_seed": 1962461157060494561,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbb1eb0a62a2e7d941b4bd01c874aee2e09589b4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_14_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.22431133515921484,
+              0.2640462452034422,
+              1.1608349579203052
+            ],
+            "current_z": 1.1608349579203052,
+            "required_z": 0.8611065676194106,
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+            "lift_margin": 0.2997283903008946,
+            "gripper_z": 1.1534668918741642,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21897820588255096,
+              0.2587013566984721,
+              1.1534668918741642
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+              0.005333129276663878,
+              0.005344888504970113,
+              0.007368066046141042
+            ],
+            "object_to_gripper_xy": 0.007550503361509816,
+            "object_to_gripper_z": 0.007368066046141042,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22431133515921484,
+              0.23982364787814328,
+              1.1608349579203052
+            ],
+            "finger_b": [
+              0.2125751926732891,
+              0.2640462452034422,
+              1.1608349579203052
+            ],
+            "finger_midpoint": [
+              0.21844326391625196,
+              0.25193494654079274,
+              1.1608349579203052
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058680712429628745,
+              0.012111298662649483,
+              0.0
+            ],
+            "finger_gap": 0.02691600381991225,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.2107959772182078,
+            "finger_top_clearance": 0.04996101929790253,
+            "fingertip_min_top_clearance": 0.014988305789370725,
+            "object_projection_between_fingers": 0.8098792212414565,
+            "object_to_finger_line_xy": 0.010561740720909108,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047926902724064344,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3400968811891495,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2696651433264705,
+              -0.35779734827077775,
+              0.8515395250445114
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+            "target_position": [
+              0.26025099518000433,
+              -0.35918269586044116,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0095155332623978,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18521236421498036,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395250445114,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578871443187002,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08565402017627678,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1525108509994973,
+            "release_required_pad_clearance": 0.05282701008813839,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 0.698852699647197,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.007639944553375244,
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351053144718439,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007639944553375244,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
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+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021193400401758416,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007639944553375244,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007639962724479597,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.41544416546821594,
+              0.7768088579177856
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+            "button_final": [
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+              -0.41544416546821594,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11500164018954265,
+              -0.4169850114070843,
+              0.8076449002927009
+            ],
+            "closest_button": [
+              0.11594108492136,
+              -0.4154390692710877,
+              0.7725862264633179
+            ],
+            "closest_ee_minus_button": [
+              -0.0009394447318173543,
+              -0.0015459421359966252,
+              0.03505867382938299
+            ],
+            "button_min_z_position": [
+              0.11593469232320786,
+              -0.41544038057327276,
+              0.7691689133644104
+            ],
+            "min_active_finger_to_button": 0.14699360141318313,
+            "closest_active_finger": [
+              -0.02630801498889923,
+              -0.40215736627578735,
+              0.810711681842804
+            ],
+            "closest_active_finger_button": [
+              0.11595010757446288,
+              -0.41544437408447266,
+              0.776168942451477
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14225812256336212,
+              0.013287007808685303,
+              0.034542739391326904
+            ],
+            "min_contact_pad_to_button": 0.021193400401758416,
+            "closest_contact_pad": [
+              0.11593469232320786,
+              -0.41797589420788006,
+              0.7902100965820428
+            ],
+            "closest_contact_pad_button": [
+              0.11593469232320786,
+              -0.41544038057327276,
+              0.7691689133644104
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025355136346073004,
+              0.021041183217632375
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "96e4defeb998e865e5a3d446d8fef34122fc0047f34e45e47e6d57f0eab4d113",
+    "visual_seed": 3145780625499319020,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebe5e5f7db810de5808b109695b651ff2e6e46d5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_15_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21963227369254085,
+              0.26033749188854727,
+              1.1628148875654305
+            ],
+            "current_z": 1.1628148875654305,
+            "required_z": 0.8611069848519242,
+            "initial_z": 0.7611069848519242,
+            "lift_margin": 0.30170790271350634,
+            "gripper_z": 1.1553891146328563,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21442455363750584,
+              0.25525600996928854,
+              1.1553891146328563
+            ],
+            "object_minus_gripper": [
+              0.005207720055035003,
+              0.0050814819192587235,
+              0.007425772932574182
+            ],
+            "object_to_gripper_xy": 0.007276112057092517,
+            "object_to_gripper_z": 0.007425772932574182,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21963227369254085,
+              0.23594415132898897,
+              1.1628148875654305
+            ],
+            "finger_b": [
+              0.20860655223548635,
+              0.26033749188854727,
+              1.1628148875654305
+            ],
+            "finger_midpoint": [
+              0.2141194129640136,
+              0.2481408216087681,
+              1.1628148875654305
+            ],
+            "object_minus_finger_midpoint": [
+              0.005512860728527247,
+              0.012196670279779165,
+              0.0
+            ],
+            "finger_gap": 0.02676941533360682,
+            "fingertip_max_gap": 0.09079132192242784,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013384707666803424,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1628148875654305,
+            "object_top_z": 1.212768180837399,
+            "finger_top_clearance": 0.0499532932719684,
+            "fingertip_min_top_clearance": 0.014985987981590553,
+            "object_projection_between_fingers": 0.8303568759739653,
+            "object_to_finger_line_xy": 0.010047069577911526,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04789566096121392,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.30332560754958365,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 360,
+            "max_stable_success_frames": 360,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27554173456992315,
+              -0.35693203317574473,
+              0.8515395644356782
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+            "target_position": [
+              0.26652510015129727,
+              -0.3580254694549894,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009082692284555131,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18707525076445655,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395644356782,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539504140754495,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0850677150251034,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15531590646000987,
+            "release_required_pad_clearance": 0.0525338575125517,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.13705608590207127,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007837176322937012,
+            "max_z_decrease": 0.007837176322937012,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515686125881484,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007837176322937012,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021269448422193492,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007837176322937012,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007837202691930768,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12222502380609508,
+              -0.41428694128990173,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12222502380609508,
+              -0.41428694128990173,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12334582921165116,
+              -0.41614793478481665,
+              0.8074448117913894
+            ],
+            "closest_button": [
+              0.12221338599920269,
+              -0.4142826795578003,
+              0.7723557353019714
+            ],
+            "closest_ee_minus_button": [
+              0.0011324432124484723,
+              -0.0018652552270163603,
+              0.03508907648941795
+            ],
+            "button_min_z_position": [
+              0.1222049221396446,
+              -0.41428390145301813,
+              0.7689716815948486
+            ],
+            "min_active_finger_to_button": 0.14492815242668214,
+            "closest_active_finger": [
+              -0.017923615872859955,
+              -0.4011051058769226,
+              0.8110714554786682
+            ],
+            "closest_active_finger_button": [
+              0.12222576886415479,
+              -0.4142851531505584,
+              0.7765952944755554
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14014938473701474,
+              0.013180047273635809,
+              0.03447616100311279
+            ],
+            "min_contact_pad_to_button": 0.021269448422193492,
+            "closest_contact_pad": [
+              0.1222049221396446,
+              -0.4171173710968248,
+              0.7900515508060647
+            ],
+            "closest_contact_pad_button": [
+              0.1222049221396446,
+              -0.41428390145301813,
+              0.7689716815948486
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002833469643806652,
+              0.021079869211216073
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "44416faf32ce4049bfb143fd54cf8b385027ba8924d7f8d84f15db7468d98294",
+    "visual_seed": 4318180773567752434,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f15e5f61def7fe5f51d5ac666169f07f525c77d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_16_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2196826485993129,
+              0.2613171235549919,
+              1.1607172671186747
+            ],
+            "current_z": 1.1607172671186747,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.2996104610806849,
+            "gripper_z": 1.1534688621328173,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.214279339398151,
+              0.2561865842462452,
+              1.1534688621328173
+            ],
+            "object_minus_gripper": [
+              0.0054033092011619155,
+              0.00513053930874674,
+              0.007248404985857437
+            ],
+            "object_to_gripper_xy": 0.007451052537860439,
+            "object_to_gripper_z": 0.007248404985857437,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2196826485993129,
+              0.2367572229703442,
+              1.1607172671186747
+            ],
+            "finger_b": [
+              0.20863233083899005,
+              0.2613171235549919,
+              1.1607172671186747
+            ],
+            "finger_midpoint": [
+              0.2141574897191515,
+              0.24903717326266805,
+              1.1607172671186747
+            ],
+            "object_minus_finger_midpoint": [
+              0.005525158880161418,
+              0.012279950292323871,
+              0.0
+            ],
+            "finger_gap": 0.026931361631597577,
+            "fingertip_max_gap": 0.09079267649630368,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013465680815798796,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1607172671186747,
+            "object_top_z": 1.2107126051274968,
+            "finger_top_clearance": 0.049995338008822054,
+            "fingertip_min_top_clearance": 0.014998601402646616,
+            "object_projection_between_fingers": 0.8316423286556037,
+            "object_to_finger_line_xy": 0.010077273824279242,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04789633824815184,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.29386377894670607,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2709726645093806,
+              -0.35927550155478133,
+              0.8515395908402966
+            ],
+            "target_position": [
+              0.26191903113167586,
+              -0.3604419842829691,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009128469712555883,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18482802971574533,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395908402966,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755936155533011,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853258345250572,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1527163004143113,
+            "release_required_pad_clearance": 0.0526629172625286,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.38359399716605186,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007667124271392822,
+            "max_z_decrease": 0.007667124271392822,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035110359249849135,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007667124271392822,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02113145703608429,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007667124271392822,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007667147014836588,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11761895567178725,
+              -0.4167034327983856,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11761895567178725,
+              -0.4167034327983856,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11862947343753705,
+              -0.4170002711596227,
+              0.80775356032277
+            ],
+            "closest_button": [
+              0.11760760098695754,
+              -0.41669976711273193,
+              0.7726593613624573
+            ],
+            "closest_ee_minus_button": [
+              0.0010218724505795113,
+              -0.0003005040468907483,
+              0.03509419896031274
+            ],
+            "button_min_z_position": [
+              0.11760043352842328,
+              -0.4167010486125946,
+              0.7691417336463928
+            ],
+            "min_active_finger_to_button": 0.1451834050731633,
+            "closest_active_finger": [
+              -0.022389166057109833,
+              -0.3996931314468384,
+              0.8112252950668335
+            ],
+            "closest_active_finger_button": [
+              0.11762119084596633,
+              -0.4167008399963379,
+              0.7767860889434814
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14001035690307617,
+              0.01700770854949951,
+              0.03443920612335205
+            ],
+            "min_contact_pad_to_button": 0.02113145703608429,
+            "closest_contact_pad": [
+              0.11760043352842328,
+              -0.4181702634834934,
+              0.7902220534762959
+            ],
+            "closest_contact_pad_button": [
+              0.11760043352842328,
+              -0.4167010486125946,
+              0.7691417336463928
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001469214870898794,
+              0.021080319829903105
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "449b3925be8f727bb5eb62cbd4c214d98dec0a798184ef214ec2ca06749167c0",
+    "visual_seed": 3228541780196297327,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..88ef16c4bbe7d31f213676e476251a6e4301ba6d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_17_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.22247730193153992,
+              0.2693096431161562,
+              1.158958940985456
+            ],
+            "current_z": 1.158958940985456,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.2978523137614003,
+            "gripper_z": 1.151700675355879,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21713261189536182,
+              0.2639258659250842,
+              1.151700675355879
+            ],
+            "object_minus_gripper": [
+              0.005344690036178101,
+              0.00538377719107197,
+              0.007258265629576988
+            ],
+            "object_to_gripper_xy": 0.007586222276332817,
+            "object_to_gripper_z": 0.007258265629576988,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22247730193153992,
+              0.24514716081892327,
+              1.158958940985456
+            ],
+            "finger_b": [
+              0.21059870801351877,
+              0.2693096431161562,
+              1.158958940985456
+            ],
+            "finger_midpoint": [
+              0.21653800497252934,
+              0.2572284019675397,
+              1.158958940985456
+            ],
+            "object_minus_finger_midpoint": [
+              0.005939296959010576,
+              0.012081241148616473,
+              0.0
+            ],
+            "finger_gap": 0.026924459961777194,
+            "fingertip_max_gap": 0.09083720858059949,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013462229980888609,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.158958940985456,
+            "object_top_z": 1.2089128587679814,
+            "finger_top_clearance": 0.04995391778252545,
+            "fingertip_min_top_clearance": 0.014986175334757601,
+            "object_projection_between_fingers": 0.8053582192683086,
+            "object_to_finger_line_xy": 0.010660058388085123,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047918604290299746,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.33239990821645715,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 355,
+            "max_stable_success_frames": 355,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27203181714272234,
+              -0.3536791435398201,
+              0.8515396565184614
+            ],
+            "target_position": [
+              0.2621684260997142,
+              -0.35516617815333473,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009974856129743628,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1872416775984849,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396565184614,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574847095611341,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08563522732275496,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15452725016714214,
+            "release_required_pad_clearance": 0.05281761366137748,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6806975213173587,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007537484169006348,
+            "max_z_decrease": 0.007537484169006348,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035105883283519095,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007537484169006348,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021213367355711703,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007537484169006348,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0075375043632567905,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11786834895610808,
+              -0.4114276468753814,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11786834895610808,
+              -0.4114276468753814,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1177762128542677,
+              -0.412973412566584,
+              0.8076270551508611
+            ],
+            "closest_button": [
+              0.11785772442817687,
+              -0.41142275929450983,
+              0.7725555300712585
+            ],
+            "closest_ee_minus_button": [
+              -8.151157390916264e-05,
+              -0.001550653272074154,
+              0.03507152507960254
+            ],
+            "button_min_z_position": [
+              0.117851085960865,
+              -0.41142511367797846,
+              0.7692713737487793
+            ],
+            "min_active_finger_to_button": 0.14616332222285514,
+            "closest_active_finger": [
+              -0.023596763610839844,
+              -0.3988933861255646,
+              0.8108344674110413
+            ],
+            "closest_active_finger_button": [
+              0.11787009984254834,
+              -0.4114253222942352,
+              0.7762831449508667
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1414668634533882,
+              0.012531936168670599,
+              0.03455132246017456
+            ],
+            "min_contact_pad_to_button": 0.021213367355711703,
+            "closest_contact_pad": [
+              0.117851085960865,
+              -0.413850932910287,
+              0.7903455844248767
+            ],
+            "closest_contact_pad_button": [
+              0.117851085960865,
+              -0.41142511367797846,
+              0.7692713737487793
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002425819232308557,
+              0.021074210676097382
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7200ed5bfdcc4b4d433316b1fb3ff1632c0e30e4abb9f88fc60ea27fe5caa731",
+    "visual_seed": 1811496847158323035,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a36379bad778f7884cbf84d00e623fec5070801b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_18_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2188048333210063,
+              0.2674044606900912,
+              1.1607823983046344
+            ],
+            "current_z": 1.1607823983046344,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.2996757114759341,
+            "gripper_z": 1.1532540554426673,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21357005197804083,
+              0.26224345106697056,
+              1.1532540554426673
+            ],
+            "object_minus_gripper": [
+              0.005234781342965483,
+              0.00516100962312066,
+              0.007528342861967019
+            ],
+            "object_to_gripper_xy": 0.007351119373170563,
+            "object_to_gripper_z": 0.007528342861967019,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2188048333210063,
+              0.24307592597521632,
+              1.1607823983046344
+            ],
+            "finger_b": [
+              0.20756392650614375,
+              0.2674044606900912,
+              1.1607823983046344
+            ],
+            "finger_midpoint": [
+              0.21318437991357503,
+              0.2552401933326538,
+              1.1607823983046344
+            ],
+            "object_minus_finger_midpoint": [
+              0.005620453407431281,
+              0.01216426735743742,
+              0.0
+            ],
+            "finger_gap": 0.026799917675121625,
+            "fingertip_max_gap": 0.09076456198940375,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013399958837560786,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1607823983046344,
+            "object_top_z": 1.2107656256540715,
+            "finger_top_clearance": 0.049983227349437165,
+            "fingertip_min_top_clearance": 0.014994968204831182,
+            "object_projection_between_fingers": 0.8240716719718434,
+            "object_to_finger_line_xy": 0.01020431461720214,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047882280994701876,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.30347918556411785,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2746079357827808,
+              -0.35531328620194014,
+              0.8515396058782851
+            ],
+            "target_position": [
+              0.26493334740070323,
+              -0.35666461909413516,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009768508634799816,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18640451247425185,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396058782851,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544959179384754,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0856655827061998,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15442449033006714,
+            "release_required_pad_clearance": 0.0528327913530999,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.709963965866703,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007640540599822998,
+            "max_z_decrease": 0.007640540599822998,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035165551556877665,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007640540599822998,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021162368229789078,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007640540599822998,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007640564682146165,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1206332743167877,
+              -0.4129260778427124,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1206332743167877,
+              -0.4129260778427124,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12253466537111529,
+              -0.41364113703378674,
+              0.8077712903749718
+            ],
+            "closest_button": [
+              0.12062191963195798,
+              -0.4129229187965393,
+              0.7726651430130005
+            ],
+            "closest_ee_minus_button": [
+              0.0019127457391573122,
+              -0.0007182182372474366,
+              0.03510614736197126
+            ],
+            "button_min_z_position": [
+              0.12061418592929839,
+              -0.4129241704940796,
+              0.7691683173179626
+            ],
+            "min_active_finger_to_button": 0.144260825720165,
+            "closest_active_finger": [
+              -0.01843823492527008,
+              -0.3959806263446808,
+              0.8111768364906311
+            ],
+            "closest_active_finger_button": [
+              0.1206349655985832,
+              -0.4129242599010467,
+              0.7767857909202576
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13907320052385327,
+              0.01694363355636591,
+              0.034391045570373535
+            ],
+            "min_contact_pad_to_button": 0.021162368229789078,
+            "closest_contact_pad": [
+              0.12061418592929839,
+              -0.4148225016166734,
+              0.7902453704336659
+            ],
+            "closest_contact_pad_button": [
+              0.12061418592929839,
+              -0.4129241704940796,
+              0.7691683173179626
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018983311225937993,
+              0.021077053115703293
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2a94ed574dfafbff57f22c2355e241c5b073cc017bd9a2f427ad6576d49b1328",
+    "visual_seed": 2439281008241662407,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a91cf3e897bc0bf7ff7660125b9b242ead8ed0b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_19_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.22488928675266545,
+              0.26297817616124586,
+              1.1628359252083333
+            ],
+            "current_z": 1.1628359252083333,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.3017292383796333,
+            "gripper_z": 1.155322394304341,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21959026402951026,
+              0.25782811567525304,
+              1.155322394304341
+            ],
+            "object_minus_gripper": [
+              0.005299022723155189,
+              0.005150060485992813,
+              0.007513530903992427
+            ],
+            "object_to_gripper_xy": 0.007389368364745364,
+            "object_to_gripper_z": 0.007513530903992427,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22488928675266545,
+              0.23858410372975508,
+              1.1628359252083333
+            ],
+            "finger_b": [
+              0.21368586255578062,
+              0.26297817616124586,
+              1.1628359252083333
+            ],
+            "finger_midpoint": [
+              0.21928757465422305,
+              0.25078113994550044,
+              1.1628359252083333
+            ],
+            "object_minus_finger_midpoint": [
+              0.005601712098442402,
+              0.012197036215745416,
+              0.0
+            ],
+            "finger_gap": 0.026843760607041682,
+            "fingertip_max_gap": 0.09077508357942776,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01342188030352086,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1628359252083333,
+            "object_top_z": 1.2127787541727115,
+            "finger_top_clearance": 0.04994282896437818,
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+            "object_projection_between_fingers": 0.8258133583991971,
+            "object_to_finger_line_xy": 0.010181030345943167,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04788754178971388,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3240296880346439,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 360,
+            "max_stable_success_frames": 360,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2741595593916785,
+              -0.36104648645763476,
+              0.8515395773771098
+            ],
+            "target_position": [
+              0.2648542482193431,
+              -0.36229470551624327,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00938865628470143,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1833363012958564,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395773771098,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754169203773355,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0851048597084887,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1516188735080212,
+            "release_required_pad_clearance": 0.052552429854244354,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.17245846472118184,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007473170757293701,
+            "max_z_decrease": 0.007473170757293701,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509746811244539,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007473170757293701,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021087988247457317,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007473170757293701,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007473196546340025,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12055417150259014,
+              -0.4185561537742614,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12055417150259014,
+              -0.4185561537742614,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12036877154507308,
+              -0.41803718316338856,
+              0.8080640429394939
+            ],
+            "closest_button": [
+              0.1205450966954231,
+              -0.418552130460739,
+              0.7729707956314087
+            ],
+            "closest_ee_minus_button": [
+              -0.00017632515035001517,
+              0.0005149472973504654,
+              0.03509324730808516
+            ],
+            "button_min_z_position": [
+              0.12053494900465007,
+              -0.41855216026306147,
+              0.7693356871604919
+            ],
+            "min_active_finger_to_button": 0.14614259785683453,
+            "closest_active_finger": [
+              -0.0071029216051101685,
+              -0.48083198070526123,
+              0.8108779788017273
+            ],
+            "closest_active_finger_button": [
+              0.12055446952581401,
+              -0.41855499148368824,
+              0.7764857411384583
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12765739113092417,
+              -0.06227698922157299,
+              0.03439223766326904
+            ],
+            "min_contact_pad_to_button": 0.021087988247457317,
+            "closest_contact_pad": [
+              0.12053494900465007,
+              -0.4191572097529085,
+              0.7904149936822856
+            ],
+            "closest_contact_pad_button": [
+              0.12053494900465007,
+              -0.41855216026306147,
+              0.7693356871604919
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006050494898470204,
+              0.021079306521793684
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "caa957ca4b63f1dca74397ae2b0e9e6d8a70e33c359460c6f3713404fd60d8fb",
+    "visual_seed": 4497590685323626844,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0602ceeff21cfeb28ca5a1dcf5b026dfc2fbb469
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_1_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21764488603370796,
+              0.2607311002437447,
+              1.1620546111091703
+            ],
+            "current_z": 1.1620546111091703,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.3009479242804699,
+            "gripper_z": 1.1547828301215541,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21235297569227482,
+              0.2555186589192843,
+              1.1547828301215541
+            ],
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+              0.0052919103414331425,
+              0.00521244132446036,
+              0.007271780987616161
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+            "object_to_gripper_xy": 0.007427910851828332,
+            "object_to_gripper_z": 0.007271780987616161,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21764488603370796,
+              0.23641742096988663,
+              1.1620546111091703
+            ],
+            "finger_b": [
+              0.20625946224854144,
+              0.2607311002437447,
+              1.1620546111091703
+            ],
+            "finger_midpoint": [
+              0.21195217414112472,
+              0.24857426060681564,
+              1.1620546111091703
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056927118925832465,
+              0.01215683963692904,
+              0.0
+            ],
+            "finger_gap": 0.026847399773532447,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1620546111091703,
+            "object_top_z": 1.2120159148319127,
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+            "object_projection_between_fingers": 0.8201568331658876,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04787377268901291,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.33919271653588057,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2687593939680049,
+              -0.36031477608410556,
+              0.851539593473686
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+            "target_position": [
+              0.25994058780238327,
+              -0.3612919162902571,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00887277550540326,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18637247165339335,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539593473686,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556717287676896,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08506780011337388,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15414469500926203,
+            "release_required_pad_clearance": 0.05253390005668694,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1370560702125526,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007759571075439453,
+            "max_z_decrease": 0.007759571075439453,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516472208509927,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007759571075439453,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021254566813196638,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007759571075439453,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007759600071034546,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11564051359891887,
+              -0.4175533652305603,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11564051359891887,
+              -0.4175533652305603,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11737491773268882,
+              -0.4190785187911545,
+              0.8074888618662586
+            ],
+            "closest_button": [
+              0.11562970280647272,
+              -0.4175489544868469,
+              0.7724007964134216
+            ],
+            "closest_ee_minus_button": [
+              0.0017452149262160987,
+              -0.0015295643043075624,
+              0.035088065452836936
+            ],
+            "button_min_z_position": [
+              0.11561965197324749,
+              -0.4175495207309723,
+              0.7690492868423462
+            ],
+            "min_active_finger_to_button": 0.1443695368066438,
+            "closest_active_finger": [
+              -0.02377183735370636,
+              -0.4028509855270386,
+              0.8111420273780823
+            ],
+            "closest_active_finger_button": [
+              0.11564226448535915,
+              -0.4175507426261902,
+              0.776642918586731
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1394141018390655,
+              0.014699757099151611,
+              0.03449910879135132
+            ],
+            "min_contact_pad_to_button": 0.021254566813196638,
+            "closest_contact_pad": [
+              0.11561965197324749,
+              -0.4201868973178347,
+              0.7901395892383696
+            ],
+            "closest_contact_pad_button": [
+              0.11561965197324749,
+              -0.4175495207309723,
+              0.7690492868423462
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026373765868624166,
+              0.021090302396023386
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9a7ee509432ec36a8177e1ba8f12704b6f2c85f81d79b1a4aac56242daf22d96",
+    "visual_seed": 2541765278498925076,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..354c05361c88d7a800a4c7dbbeb5c4b8894a9a19
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_20_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.22327106785529052,
+              0.2591504245015517,
+              1.1613657692307857
+            ],
+            "current_z": 1.1613657692307857,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.30025908240208565,
+            "gripper_z": 1.1541270847691327,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21783960695287544,
+              0.2538960606883247,
+              1.1541270847691327
+            ],
+            "object_minus_gripper": [
+              0.005431460902415086,
+              0.00525436381322697,
+              0.007238684461652989
+            ],
+            "object_to_gripper_xy": 0.00755705674295309,
+            "object_to_gripper_z": 0.007238684461652989,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22327106785529052,
+              0.23482587209765868,
+              1.1613657692307857
+            ],
+            "finger_b": [
+              0.21167467471274476,
+              0.2591504245015517,
+              1.1613657692307857
+            ],
+            "finger_midpoint": [
+              0.21747287128401765,
+              0.2469881482996052,
+              1.1613657692307857
+            ],
+            "object_minus_finger_midpoint": [
+              0.005798196571272868,
+              0.012162276201946487,
+              0.0
+            ],
+            "finger_gap": 0.026947359491538668,
+            "fingertip_max_gap": 0.09082590966471035,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013473679745769317,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1613657692307857,
+            "object_top_z": 1.2113228622992325,
+            "finger_top_clearance": 0.049957093068446756,
+            "fingertip_min_top_clearance": 0.014987127920533992,
+            "object_projection_between_fingers": 0.8148117495838721,
+            "object_to_finger_line_xy": 0.010467707338100088,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04791295483235518,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3244412112113858,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 363,
+            "max_stable_success_frames": 363,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2768275892668217,
+              -0.355651667493441,
+              0.851539521988096
+            ],
+            "target_position": [
+              0.267459508327403,
+              -0.357104262610146,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009480030224665705,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18410202024652383,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539521988096,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572244030304777,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08512727641237398,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15160062868740937,
+            "release_required_pad_clearance": 0.052563638206186994,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1938265847342373,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007745683193206787,
+            "max_z_decrease": 0.007745683193206787,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510340222862184,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007745683193206787,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021086966799283124,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007745683193206787,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007745712707485423,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12315943092107773,
+              -0.41336572170257563,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12315943092107773,
+              -0.41336572170257563,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12361625574843091,
+              -0.41236509762742823,
+              0.8075501602453619
+            ],
+            "closest_button": [
+              0.12314771860837935,
+              -0.41336172819137573,
+              0.7724640369415283
+            ],
+            "closest_ee_minus_button": [
+              0.00046853714005155866,
+              0.0009966305639474982,
+              0.03508612330383354
+            ],
+            "button_min_z_position": [
+              0.12313830107450484,
+              -0.41336244344711304,
+              0.7690631747245789
+            ],
+            "min_active_finger_to_button": 0.1453592838414393,
+            "closest_active_finger": [
+              -0.0029634907841682434,
+              -0.4769063889980316,
+              0.8110408186912537
+            ],
+            "closest_active_finger_button": [
+              0.12316032499074935,
+              -0.4133637845516205,
+              0.7766250967979431
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1261238157749176,
+              -0.06354260444641113,
+              0.03441572189331055
+            ],
+            "min_contact_pad_to_button": 0.021086966799283124,
+            "closest_contact_pad": [
+              0.12313830107450484,
+              -0.41336244344711304,
+              0.790150141523862
+            ],
+            "closest_contact_pad_button": [
+              0.12313830107450484,
+              -0.41336244344711304,
+              0.7690631747245789
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021086966799283124
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b13dd5d18c8730793840b142782de839f57298cdb6a7cd4adcf7923591760747",
+    "visual_seed": 3282749909594863146,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..37a42a78e143746d5eb760e866a5e55d92ad4aab
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_21_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2185282435864316,
+              0.2649495398759157,
+              1.1624461980396656
+            ],
+            "current_z": 1.1624461980396656,
+            "required_z": 0.8611070444565692,
+            "initial_z": 0.7611070444565692,
+            "lift_margin": 0.3013391535830965,
+            "gripper_z": 1.1551973161272855,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2132288241377726,
+              0.2597093058742188,
+              1.1551973161272855
+            ],
+            "object_minus_gripper": [
+              0.0052994194486589985,
+              0.005240234001696875,
+              0.007248881912380156
+            ],
+            "object_to_gripper_xy": 0.0074527779307695255,
+            "object_to_gripper_z": 0.007248881912380156,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2185282435864316,
+              0.24067295087780166,
+              1.1624461980396656
+            ],
+            "finger_b": [
+              0.2070405021804248,
+              0.2649495398759157,
+              1.1624461980396656
+            ],
+            "finger_midpoint": [
+              0.21278437288342822,
+              0.2528112453768587,
+              1.1624461980396656
+            ],
+            "object_minus_finger_midpoint": [
+              0.00574387070300339,
+              0.012138294499057012,
+              0.0
+            ],
+            "finger_gap": 0.026857419384494746,
+            "fingertip_max_gap": 0.09077086956866615,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013428709692247366,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1624461980396656,
+            "object_top_z": 1.2123823270756202,
+            "finger_top_clearance": 0.04993612903595457,
+            "fingertip_min_top_clearance": 0.01498083871078637,
+            "object_projection_between_fingers": 0.8170464924726313,
+            "object_to_finger_line_xy": 0.01038384115159062,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047885434784333075,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2935362911147499,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2766347115305414,
+              -0.3572398585477413,
+              0.8515395009100651
+            ],
+            "target_position": [
+              0.26811008720020457,
+              -0.35833352571368376,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008594494042305898,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.183987390427229,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395009100651,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753907353943037,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0859024423867298,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15227127807860252,
+            "release_required_pad_clearance": 0.0529512211933649,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.938778402579259,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0077912211418151855,
+            "max_z_decrease": 0.0077912211418151855,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511932873543609,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0077912211418151855,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02108319214774812,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0077912211418151855,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0077912507062866095,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1238100156188011,
+              -0.41459497809410095,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1238100156188011,
+              -0.41459497809410095,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12458580912107975,
+              -0.41350333709998677,
+              0.8076608306824334
+            ],
+            "closest_button": [
+              0.12379943579435346,
+              -0.41459083557128906,
+              0.7725671529769897
+            ],
+            "closest_ee_minus_button": [
+              0.0007863733267262918,
+              0.001087498471302295,
+              0.03509367770544369
+            ],
+            "button_min_z_position": [
+              0.12378880381584166,
+              -0.4145916998386383,
+              0.7690176367759705
+            ],
+            "min_active_finger_to_button": 0.14504655031132954,
+            "closest_active_finger": [
+              -0.0024504587054252625,
+              -0.4771617650985718,
+              0.810969352722168
+            ],
+            "closest_active_finger_button": [
+              0.12381048500537871,
+              -0.41459375619888306,
+              0.7765902876853943
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12626094371080399,
+              -0.06256800889968872,
+              0.03437906503677368
+            ],
+            "min_contact_pad_to_button": 0.02108319214774812,
+            "closest_contact_pad": [
+              0.12378880381584166,
+              -0.4145916998386383,
+              0.7901008289237186
+            ],
+            "closest_contact_pad_button": [
+              0.12378880381584166,
+              -0.4145916998386383,
+              0.7690176367759705
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108319214774812
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "95cbd03db8aaee1fea018730dbc7bf9f6b81ddb6524a67e77926d4afaef8922d",
+    "visual_seed": 3831184429032163842,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a53ee547c0818fd28229bdf773bb97792bbfc17c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_22_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.22074706228689495,
+              0.2636344797939087,
+              1.1593144073633166
+            ],
+            "current_z": 1.1593144073633166,
+            "required_z": 0.8611068656426346,
+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.298207541720682,
+            "gripper_z": 1.1520755628161952,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21543076288773172,
+              0.2582744541623739,
+              1.1520755628161952
+            ],
+            "object_minus_gripper": [
+              0.005316299399163227,
+              0.005360025631534815,
+              0.007238844547121426
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+            "object_to_gripper_xy": 0.007549365143656351,
+            "object_to_gripper_z": 0.007238844547121426,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22074706228689495,
+              0.23948996136068473,
+              1.1593144073633166
+            ],
+            "finger_b": [
+              0.20890555508206096,
+              0.2636344797939087,
+              1.1593144073633166
+            ],
+            "finger_midpoint": [
+              0.21482630868447794,
+              0.2515622205772967,
+              1.1593144073633166
+            ],
+            "object_minus_finger_midpoint": [
+              0.005920753602417006,
+              0.01207225921661198,
+              0.0
+            ],
+            "finger_gap": 0.02689198883040127,
+            "fingertip_max_gap": 0.09076442802870804,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013445994415200642,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1593144073633166,
+            "object_top_z": 1.2092645217624356,
+            "finger_top_clearance": 0.049950114399119006,
+            "fingertip_min_top_clearance": 0.014985034319735668,
+            "object_projection_between_fingers": 0.8061043246314186,
+            "object_to_finger_line_xy": 0.010631697446677921,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047882214014354024,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2961709201238263,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2733871825789277,
+              -0.353677233820036,
+              0.8515395672559073
+            ],
+            "target_position": [
+              0.26360903418571413,
+              -0.35484313904479425,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00984741189312316,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18701248386590408,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395672559073,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_fingertip_min_gap": 0.08707407981943303,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15567963662318363,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 2.085729320074965,
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007422447204589844,
+            "max_z_decrease": 0.007422447204589844,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510280971951505,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007422447204589844,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021087545873251137,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007422447204589844,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007422475882475981,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11930896341800688,
+              -0.4111045897006988,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11930896341800688,
+              -0.4111045897006988,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11970630007675614,
+              -0.41024660269084867,
+              0.8077751430760332
+            ],
+            "closest_button": [
+              0.11929813772439957,
+              -0.4111011624336242,
+              0.7726851105690002
+            ],
+            "closest_ee_minus_button": [
+              0.00040816235235657805,
+              0.0008545597427755403,
+              0.03509003250703291
+            ],
+            "button_min_z_position": [
+              0.11928853392601012,
+              -0.4111016988754272,
+              0.7693864107131958
+            ],
+            "min_active_finger_to_button": 0.14547795079226047,
+            "closest_active_finger": [
+              -0.007504500448703766,
+              -0.47353267669677734,
+              0.8107609152793884
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+            "closest_active_finger_button": [
+              0.11930958926677704,
+              -0.411103069782257,
+              0.7763434052467346
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1268140897154808,
+              -0.06242960691452032,
+              0.03441751003265381
+            ],
+            "min_contact_pad_to_button": 0.021087545873251137,
+            "closest_contact_pad": [
+              0.11928853392601012,
+              -0.41130217838732314,
+              0.790473003584539
+            ],
+            "closest_contact_pad_button": [
+              0.11928853392601012,
+              -0.4111016988754272,
+              0.7693864107131958
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002004795118959457,
+              0.02108659287134318
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "52e8b63a38ef3e7f73246b7b8b21bb5340302d4a8282fb40cec752c06602f5ec",
+    "visual_seed": 6135737621080607151,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d1136f86b2cc7d40f7dc5ce3e64ee7d4fa510b7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_23_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "object_position": [
+              0.2253345018748607,
+              0.260782458443524,
+              1.1609797876690644
+            ],
+            "current_z": 1.1609797876690644,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.2998731008403642,
+            "gripper_z": 1.15368064954035,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21986900360292136,
+              0.2556631370532836,
+              1.15368064954035
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+              0.005465498271939345,
+              0.0051193213902404056,
+              0.007299138128714411
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+            "object_to_gripper_z": 0.007299138128714411,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2253345018748607,
+              0.23632968015610803,
+              1.1609797876690644
+            ],
+            "finger_b": [
+              0.21407715760140678,
+              0.260782458443524,
+              1.1609797876690644
+            ],
+            "finger_midpoint": [
+              0.21970582973813374,
+              0.248556069299816,
+              1.1609797876690644
+            ],
+            "object_minus_finger_midpoint": [
+              0.005628672136726964,
+              0.012226389143707994,
+              0.0
+            ],
+            "finger_gap": 0.02691962418134004,
+            "fingertip_max_gap": 0.09073851766546587,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013459812090670032,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1609797876690644,
+            "object_top_z": 1.2109475155097589,
+            "finger_top_clearance": 0.049967727840694476,
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+            "object_projection_between_fingers": 0.8251225101631541,
+            "object_to_finger_line_xy": 0.010225749875612773,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047869258832732936,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3300993414670207,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 360,
+            "max_stable_success_frames": 360,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
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+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "defaultgroundplane",
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+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
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+              -0.35261524827025814,
+              0.8515395739331202
+            ],
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+              0.26797539570961665,
+              -0.35390912352293474,
+              0.8084375599031817
+            ],
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+            "gripper_dist": 0.18710429376738968,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395739331202,
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_fingertip_min_gap": 0.08554173300946137,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15458720466539458,
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+            "release_pad_clearance_ok": true,
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+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.5908273491333877,
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007565140724182129,
+            "max_z_decrease": 0.007565140724182129,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514374663893708,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007565140724182129,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02108236594374188,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007565140724182129,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007565163206564927,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12367532402276993,
+              -0.4101705849170685,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12367532402276993,
+              -0.4101705849170685,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12511574342562176,
+              -0.4093550088504412,
+              0.8078834873319233
+            ],
+            "closest_button": [
+              0.12366466224193572,
+              -0.41016727685928345,
+              0.772779107093811
+            ],
+            "closest_ee_minus_button": [
+              0.0014510811836860454,
+              0.0008122680088422651,
+              0.03510438023811224
+            ],
+            "button_min_z_position": [
+              0.1236569732427597,
+              -0.41016873717308044,
+              0.7692437171936035
+            ],
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+            "closest_active_finger": [
+              -0.002384461462497711,
+              -0.47207310795783997,
+              0.8111662864685059
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+              0.1236736848950386,
+              -0.41017088294029236,
+              0.7768070697784424
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12605814635753632,
+              -0.06190222501754761,
+              0.03435921669006348
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+            "closest_contact_pad": [
+              0.1236569732427597,
+              -0.41044639323509785,
+              0.7903242546843098
+            ],
+            "closest_contact_pad_button": [
+              0.1236569732427597,
+              -0.41016873717308044,
+              0.7692437171936035
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002776560620174062,
+              0.021080537490706264
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6fff303145d7a022b80eab896e476a87330be7dd28634ffc0fc68a723fabca55",
+    "visual_seed": 7554929916513081764,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..797193c3dfd2a5c9d5ddf9b9870933860d90dd3d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_24_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+            "gripper_z": 1.1544047161571185,
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+            "object_to_gripper_z": 0.0070104489956386296,
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+              0.23364375862692488,
+              1.1614151651527571
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+            "finger_midpoint": [
+              0.21244377448193189,
+              0.24572427494610286,
+              1.1614151651527571
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+              0.005891238178817593,
+              0.012080516319177975,
+              0.0
+            ],
+            "finger_gap": 0.02688089000144775,
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
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+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2719646010307625,
+              -0.35702420469996354,
+              0.8515396142527508
+            ],
+            "target_position": [
+              0.26252096647465345,
+              -0.35847620887834364,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009554608823147591,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18529192907990463,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396142527508,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561966117762825,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08582526606453784,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15313783943139997,
+            "release_required_pad_clearance": 0.052912633032268924,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8641077414998641,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007513225078582764,
+            "max_z_decrease": 0.007513225078582764,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508851969901524,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007513225078582764,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021078734446976492,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007513225078582764,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007513246567809516,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11822089552879333,
+              -0.4147376716136931,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11822089552879333,
+              -0.4147376716136931,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11714752491425165,
+              -0.4148895588599836,
+              0.8077042957751207
+            ],
+            "closest_button": [
+              0.11821110546588896,
+              -0.41473463177680964,
+              0.7726322412490845
+            ],
+            "closest_ee_minus_button": [
+              -0.0010635805516373137,
+              -0.0001549270831739391,
+              0.035072054526036234
+            ],
+            "button_min_z_position": [
+              0.11820326745510101,
+              -0.41473418474197377,
+              0.7692956328392029
+            ],
+            "min_active_finger_to_button": 0.14719732016212367,
+            "closest_active_finger": [
+              -0.010046437382698059,
+              -0.4782101809978485,
+              0.8107222318649292
+            ],
+            "closest_active_finger_button": [
+              0.11822154372930525,
+              -0.41473662853240956,
+              0.7762913703918457
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12826798111200333,
+              -0.06347355246543895,
+              0.034430861473083496
+            ],
+            "min_contact_pad_to_button": 0.021078734446976492,
+            "closest_contact_pad": [
+              0.11820326745510101,
+              -0.41588859055576693,
+              0.7903427322380092
+            ],
+            "closest_contact_pad_button": [
+              0.11820326745510101,
+              -0.41473418474197377,
+              0.7692956328392029
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001154405813793169,
+              0.021047099398806335
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "24444106a79a6aae92594c8509bce0e6e8dd4dfeb4f462febbc18b5f00d58d55",
+    "visual_seed": 7249932573016863174,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1ebae088588c253a7dc79c740d5a6228b714360
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_25_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2207314825032837,
+              0.2641576622276113,
+              1.1627761529349763
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+            "current_z": 1.1627761529349763,
+            "required_z": 0.8611069252472792,
+            "initial_z": 0.7611069252472792,
+            "lift_margin": 0.3016692276876971,
+            "gripper_z": 1.1552291303794835,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21557086998741826,
+              0.2589551152450443,
+              1.1552291303794835
+            ],
+            "object_minus_gripper": [
+              0.0051606125158654426,
+              0.005202546982567002,
+              0.007547022555492777
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+            "object_to_gripper_xy": 0.007327920349234431,
+            "object_to_gripper_z": 0.007547022555492777,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2207314825032837,
+              0.2401701348754462,
+              1.1627761529349763
+            ],
+            "finger_b": [
+              0.20902979536927332,
+              0.2641576622276113,
+              1.1627761529349763
+            ],
+            "finger_midpoint": [
+              0.2148806389362785,
+              0.25216389855152876,
+              1.1627761529349763
+            ],
+            "object_minus_finger_midpoint": [
+              0.005850843567005187,
+              0.011993763676082514,
+              0.0
+            ],
+            "finger_gap": 0.026689528850340014,
+            "fingertip_max_gap": 0.0907375473666161,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013344764425169983,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1627761529349763,
+            "object_top_z": 1.2127130639257278,
+            "finger_top_clearance": 0.04993691099075148,
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+                "Robotiq2F85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
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+                "fr3_duo_mobile",
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+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
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+                "geometry",
+                "gripper",
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+                "joint3",
+                "joint4",
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+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "link0",
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+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26867070394682946,
+              -0.3529323475796193,
+              0.8515395983968833
+            ],
+            "target_position": [
+              0.2601750490686297,
+              -0.35395041415144685,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008556436837501461,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1869836017394213,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395983968833,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536401642398599,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08650647052601461,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15529835407295284,
+            "release_required_pad_clearance": 0.053253235263007306,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5267159339877665,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007298946380615234,
+            "max_z_decrease": 0.007298946380615234,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035146869011464,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007298946380615234,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021276804999270326,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007298946380615234,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007298966111829599,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1158749759197235,
+              -0.41021186113357544,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1158749759197235,
+              -0.41021186113357544,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11430735035058681,
+              -0.4121660651775606,
+              0.8079368841857096
+            ],
+            "closest_button": [
+              0.11586534231901166,
+              -0.4102083444595337,
+              0.7728791832923889
+            ],
+            "closest_ee_minus_button": [
+              -0.0015579919684248489,
+              -0.001957720718026912,
+              0.03505770089332072
+            ],
+            "button_min_z_position": [
+              0.11585839837789533,
+              -0.41020822525024414,
+              0.7695099115371704
+            ],
+            "min_active_finger_to_button": 0.14751234674469232,
+            "closest_active_finger": [
+              -0.026793166995048523,
+              -0.3955093026161194,
+              0.8109660148620605
+            ],
+            "closest_active_finger_button": [
+              0.1158752217888832,
+              -0.4102117717266083,
+              0.7764774560928345
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14266838878393173,
+              0.014702469110488892,
+              0.034488558769226074
+            ],
+            "min_contact_pad_to_button": 0.021276804999270326,
+            "closest_contact_pad": [
+              0.11585839837789533,
+              -0.41334206351196795,
+              0.7905546612084383
+            ],
+            "closest_contact_pad_button": [
+              0.11585839837789533,
+              -0.41020822525024414,
+              0.7695099115371704
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003133838261723809,
+              0.021044749671267904
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d00e876ede50d78fd41655492dfa0c5ad736fc4729658c3ee6b211a7540dd8f0",
+    "visual_seed": 6039124453278600568,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbe30681e0ca67230e09d8b503fa2179320e0114
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_26_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2249298261201079,
+              0.2649472037788763,
+              1.1628728556090735
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+            "current_z": 1.1628728556090735,
+            "required_z": 0.8611068656426346,
+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.3017659899664389,
+            "gripper_z": 1.1552142407285544,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21975537024551525,
+              0.25975136815545025,
+              1.1552142407285544
+            ],
+            "object_minus_gripper": [
+              0.005174455874592643,
+              0.0051958356234260705,
+              0.00765861488051911
+            ],
+            "object_to_gripper_xy": 0.007332919024765628,
+            "object_to_gripper_z": 0.00765861488051911,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2249298261201079,
+              0.24087256683789443,
+              1.1628728556090735
+            ],
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "elbow_joint",
+                "festo",
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+                "fr3_duo_mobile",
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+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "geometry",
+                "gripper",
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+                "joint3",
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26992225826438676,
+              -0.3603071315143018,
+              0.8515395515357854
+            ],
+            "target_position": [
+              0.2611160404740393,
+              -0.3615837437289317,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008898270085672512,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18483463583509405,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395515357854,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581319348562329,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08549745708478311,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15218804869149388,
+            "release_required_pad_clearance": 0.05274872854239156,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5482248337437048,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007841050624847412,
+            "max_z_decrease": 0.007841050624847412,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509354535353511,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007841050624847412,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021197424687827784,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007841050624847412,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007841070062407777,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11681596934795378,
+              -0.41784518957138067,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11681596934795378,
+              -0.41784518957138067,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11616732126939097,
+              -0.41920132855877135,
+              0.8073320490521236
+            ],
+            "closest_button": [
+              0.11680614948272704,
+              -0.41783994436264044,
+              0.7722707390785217
+            ],
+            "closest_ee_minus_button": [
+              -0.0006388282133360651,
+              -0.0013613841961309103,
+              0.035061309973601906
+            ],
+            "button_min_z_position": [
+              0.11679911613464355,
+              -0.41784062981605535,
+              0.7689678072929382
+            ],
+            "min_active_finger_to_button": 0.14671990561822104,
+            "closest_active_finger": [
+              -0.02522938698530197,
+              -0.405391663312912,
+              0.8111342787742615
+            ],
+            "closest_active_finger_button": [
+              0.11681656539440154,
+              -0.4178453087806702,
+              0.77657151222229
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14204595237970352,
+              0.012453645467758234,
+              0.034562766551971436
+            ],
+            "min_contact_pad_to_button": 0.021197424687827784,
+            "closest_contact_pad": [
+              0.11679911613464355,
+              -0.4201270972516381,
+              0.7900415558930841
+            ],
+            "closest_contact_pad_button": [
+              0.11679911613464355,
+              -0.41784062981605535,
+              0.7689678072929382
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002286467435582751,
+              0.02107374860014588
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1b9154bb488b8d2f89edae8e8c709af92ed59f57489f0963764d1250a0fccbd9",
+    "visual_seed": 168045664626120679,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea097a2ad9869819ac4afc8f0f10091f2eb81e0d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_27_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2235524284757071,
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+                "ridgebase_ur5e",
+                "right_inner_finger",
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+                "robot",
+                "robotiq_2f85",
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+      }
+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "target": "heater_platform",
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+              -0.3589462648049715,
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+              0.2596556751469409,
+              -0.3600111554852705,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18551959542925722,
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+            "gripper_away_ok": true,
+            "object_z": 0.8515395563904382,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "virtual_attach_allowed": false,
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007689177989959717,
+            "max_z_decrease": 0.007689177989959717,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513396989011163,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007689177989959717,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02109816028191569,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007689177989959717,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007689206640548805,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11535560339689256,
+              -0.4162726104259491,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11535560339689256,
+              -0.4162726104259491,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1166161388514618,
+              -0.4147173849425768,
+              0.8074521489161796
+            ],
+            "closest_button": [
+              0.11534455418586732,
+              -0.41626822948455805,
+              0.7723754644393921
+            ],
+            "closest_ee_minus_button": [
+              0.0012715846655944746,
+              0.0015508445419812333,
+              0.03507668447678747
+            ],
+            "button_min_z_position": [
+              0.1153349354863167,
+              -0.41626894474029535,
+              0.7691196799278259
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+            "min_active_finger_to_button": 0.14443383546433744,
+            "closest_active_finger": [
+              -0.009515464305877686,
+              -0.480126291513443,
+              0.8106756806373596
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+            "closest_active_finger_button": [
+              0.11535640805959703,
+              -0.4162707030773163,
+              0.7761704325675964
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12487187236547471,
+              -0.06385558843612671,
+              0.034505248069763184
+            ],
+            "min_contact_pad_to_button": 0.02109816028191569,
+            "closest_contact_pad": [
+              0.1153349354863167,
+              -0.41626894474029535,
+              0.7902178402097416
+            ],
+            "closest_contact_pad_button": [
+              0.1153349354863167,
+              -0.41626894474029535,
+              0.7691196799278259
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02109816028191569
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a15bdfdb65d360aff1b26af967e2d7d7d723d8bb1dbc5735aca0dbe89b7c7e85",
+    "visual_seed": 147370093072766933,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed9d7a9379182262301326d1d354aaf564b5ca8e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_28_success.json
@@ -0,0 +1,700 @@
+{
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+  "success": true,
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+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "964990e31754541c48895c9b1cba0dd813dbfc503b6f7459c89f1cb5a1fbe5c1",
+    "visual_seed": 9204749283440448410,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdafb573499bcd8877892c25d45c24152ec0810e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_29_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "target": "beaker_a",
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+              0.2634743776745846,
+              1.1593500939149797
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+              0.21111261064364542,
+              0.25841443237220585,
+              1.151980714928685
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+              0.005163328448405752,
+              0.005059945302378743,
+              0.00736937898629475
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+            "object_to_gripper_z": 0.00736937898629475,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23918777696557386,
+              1.1593500939149797
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+            "finger_b": [
+              0.20518768227338247,
+              0.2634743776745846,
+              1.1593500939149797
+            ],
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+              0.21073181068271682,
+              0.2513310773200792,
+              1.1593500939149797
+            ],
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+              0.0055441284093343535,
+              0.012143300354505393,
+              0.0
+            ],
+            "finger_gap": 0.02669809755910847,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_top_z": 1.2092956855129158,
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+            "object_projection_between_fingers": 0.8275092061166799,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04779000537569571,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2725935280199329,
+              -0.35333458389794326,
+              0.8515395732331984
+            ],
+            "target_position": [
+              0.26398435070612014,
+              -0.3541660434778239,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008649234593514264,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1872457052870215,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395732331984,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08511411938127884,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15512226169147292,
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+            "virtual_attach_allowed": false,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.007526040077209473,
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+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
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+            "physical_press_ok": true,
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+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
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+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
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+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007526040077209473,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007526062322823762,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "min_active_finger_to_button": 0.14592252502941389,
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+              -0.4104265570640564,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.014832019805908203,
+              0.034470975399017334
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+            "min_contact_pad_to_button": 0.021216778540334838,
+            "closest_contact_pad": [
+              0.11966609954833982,
+              -0.4129207216277399,
+              0.7903523499723588
+            ],
+            "closest_contact_pad_button": [
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+              -0.41042542457580566,
+              0.7692828178405762
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002495297051934242,
+              0.021069532131782642
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7b1379ac1f2b9a7ce7db48a8b9f0b3f63271ea22a672efa5b22c452ad9740e33",
+    "visual_seed": 5206775205835726857,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee9957a0f5e302164af63cef76cc2bea07bc8fd5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_2_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              0.2685279322797886,
+              1.1620240339308485
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+              0.2633216253331925,
+              1.15440331979555
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+              0.005206306946596129,
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+              0.24418125934251186,
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+              1.1620240339308485
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+              0.2563545958111502,
+              1.1620240339308485
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+              0.0,
+              1.0
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+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              0.8515395783503715
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+              -0.3594027896681045,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
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+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
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+      "reason": "executed",
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+        "checker": {
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+            "button_final_displacement": 0.0,
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+            "closest_active_finger_minus_button": [
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+            "min_contact_pad_to_button": 0.02107639158352551,
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+              -0.41605017248012344,
+              0.7901179906645754
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+              -0.41566199064254755,
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+            "closest_contact_pad_minus_button": [
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+              -0.000388181837575885,
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "heat_button",
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+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "afbf1769a8ad9dcdf03b08a3afda5c30a22d080c0c3f95e8947c562c42713508",
+    "visual_seed": 9175839567193061153,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e0df75babba3019841381ab8e72ce87fc99d27f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_30_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.26169417471707807,
+              1.1604172523804754
+            ],
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+            "lift_margin": 0.29931056555177504,
+            "gripper_z": 1.1529262272279004,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21497444816829633,
+              0.25656108998556604,
+              1.1529262272279004
+            ],
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+              0.005167642669919481,
+              0.005133084731512028,
+              0.007491025152575048
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+            "object_to_gripper_xy": 0.007283755187048399,
+            "object_to_gripper_z": 0.007491025152575048,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.22014209083821581,
+              0.23778200067479147,
+              1.1604172523804754
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+            "finger_b": [
+              0.20843612901804912,
+              0.26169417471707807,
+              1.1604172523804754
+            ],
+            "finger_midpoint": [
+              0.21428910992813247,
+              0.24973808769593475,
+              1.1604172523804754
+            ],
+            "object_minus_finger_midpoint": [
+              0.00585298091008335,
+              0.011956087021143313,
+              0.0
+            ],
+            "finger_gap": 0.026623703903923764,
+            "fingertip_max_gap": 0.0908307617111706,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.2103777328330396,
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+            "fingertip_min_top_clearance": 0.014988144135769254,
+            "object_projection_between_fingers": 0.8066797903924999,
+            "object_to_finger_line_xy": 0.010513751106394126,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047915380855585304,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.32843179380282983,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.273315222384922,
+              -0.35716111128835065,
+              0.8515395695481656
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+            "target_position": [
+              0.2646002247751217,
+              -0.358486785550165,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008815247902768383,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18355736570103218,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395695481656,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563757345278542,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08568912792042017,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1513354759455938,
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+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 0.7327494106425291,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.007499516010284424,
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515635166865995,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007499516010284424,
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+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02105920190120103,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
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+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007499535072395021,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.41474825143814087,
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+            "min_active_finger_to_button": 0.14687899891864756,
+            "closest_active_finger": [
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+              -0.4147476553916931,
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1293511986732483,
+              -0.06049644947052002,
+              0.03437858819961548
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+            "min_contact_pad_to_button": 0.02105920190120103,
+            "closest_contact_pad": [
+              0.1202833503484726,
+              -0.41474634408950806,
+              0.7903685438087023
+            ],
+            "closest_contact_pad_button": [
+              0.1202833503484726,
+              -0.41474634408950806,
+              0.7693093419075012
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02105920190120103
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "13312678908b62c328a2286e8e4cb3d6adf780196f68099e234c8c4e1f7aae07",
+    "visual_seed": 5243339413705190397,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..abe676c9b7735a6b55dceb10cf2a64279e9f14bf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_31_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.2631406149307848,
+              1.1595277586867467
+            ],
+            "current_z": 1.1595277586867467,
+            "required_z": 0.8611069848519242,
+            "initial_z": 0.7611069848519242,
+            "lift_margin": 0.2984207738348226,
+            "gripper_z": 1.1522194995791324,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21109937958497843,
+              0.2579773088714798,
+              1.1522194995791324
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+              0.005198647482436924,
+              0.005163306059304984,
+              0.0073082591076143455
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+            "object_to_gripper_z": 0.0073082591076143455,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23889744218466377,
+              1.1595277586867467
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+            "finger_b": [
+              0.20496827332543216,
+              0.2631406149307848,
+              1.1595277586867467
+            ],
+            "finger_midpoint": [
+              0.21063315019642376,
+              0.2510190285577243,
+              1.1595277586867467
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056648768709915975,
+              0.012121586373060489,
+              0.0
+            ],
+            "finger_gap": 0.026759946648905086,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8207453401765731,
+            "object_to_finger_line_xy": 0.010264190012843257,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047876511984523584,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.25641767828803447,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27581942179574925,
+              -0.3595834157774241,
+              0.851539571297981
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+              0.2676349369894775,
+              -0.36068416771327094,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008258174517916411,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18647774143947868,
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+            "gripper_away_ok": true,
+            "object_z": 0.851539571297981,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579444745946541,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08529470974042645,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15374261242737924,
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+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 0.35387741304778275,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.007561624050140381,
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+            "min_ee_to_button": 0.03513766734206673,
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+            "ee_contact_ok": true,
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+            "ee_contacted_z_ok": true,
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+            "contacted_z_stable_frames": 0,
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+            "contact_point_distance": 0.02109941573826314,
+            "contact_point_source": "active_contact_pad_positions",
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+            "contact_point_seen_ok": true,
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+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007561624050140381,
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+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007561647699000182,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "closest_active_finger": [
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+              -0.41694402694702143,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13963841646909714,
+              0.0157515406608581,
+              0.034440577030181885
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+            "min_contact_pad_to_button": 0.02109941573826314,
+            "closest_contact_pad": [
+              0.12331608682870865,
+              -0.4179014102737879,
+              0.7903248880495738
+            ],
+            "closest_contact_pad_button": [
+              0.12331608682870865,
+              -0.4169433712959289,
+              0.7692472338676453
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009580389778590104,
+              0.02107765418192853
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e72331d38795e2d96f8fb3a0b60c552dee40c8a46213d51b8fd1bc1e42e26e18",
+    "visual_seed": 550376832429600668,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e3b562ae0644a3c9f70fd2d9971cd155efdedfb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_32_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.22375296971189262,
+              0.2621382077330624,
+              1.1603194124062575
+            ],
+            "current_z": 1.1603194124062575,
+            "required_z": 0.8611066272240556,
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+            "lift_margin": 0.29921278518220185,
+            "gripper_z": 1.1529974325228916,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21839946858576834,
+              0.25697154749262285,
+              1.1529974325228916
+            ],
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+              0.005353501126124288,
+              0.005166660240439547,
+              0.007321979883365914
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+            "object_to_gripper_xy": 0.007440050560819655,
+            "object_to_gripper_z": 0.007321979883365914,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.22375296971189262,
+              0.23777205357519496,
+              1.1603194124062575
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+            "finger_b": [
+              0.2124054980536233,
+              0.2621382077330624,
+              1.1603194124062575
+            ],
+            "finger_midpoint": [
+              0.21807923388275796,
+              0.24995513065412867,
+              1.1603194124062575
+            ],
+            "object_minus_finger_midpoint": [
+              0.005673735829134663,
+              0.012183077078933735,
+              0.0
+            ],
+            "finger_gap": 0.02687888728128801,
+            "fingertip_max_gap": 0.0908099130145183,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.2102709783497279,
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+            "object_projection_between_fingers": 0.8217721199666083,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790495650725915,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.32108177226547846,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 363,
+            "max_stable_success_frames": 363,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26807097767291393,
+              -0.36092664806998853,
+              0.8515395830069604
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+            "target_position": [
+              0.2589750647673389,
+              -0.3622507937888175,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009191789459648202,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18519834701567797,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395830069604,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580109444404068,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08535259561353538,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15260022497450088,
+            "release_required_pad_clearance": 0.05267629780676769,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.007738292217254639,
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+            "min_ee_to_button": 0.03515135482864404,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007738292217254639,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021097087758810362,
+            "contact_point_source": "active_contact_pad_positions",
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+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007738292217254639,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007738314769367898,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.41851225495338445,
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+            "button_final": [
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+              -0.41851225495338445,
+              0.7768088579177856
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+            "closest_ee": [
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+            "closest_button": [
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+            "closest_ee_minus_button": [
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+            "button_min_z_position": [
+              0.11465646326541896,
+              -0.41850987076759344,
+              0.769070565700531
+            ],
+            "min_active_finger_to_button": 0.14413029424401363,
+            "closest_active_finger": [
+              -0.010425008833408356,
+              -0.4812372922897339,
+              0.8106042742729187
+            ],
+            "closest_active_finger_button": [
+              0.11467641592025751,
+              -0.4185092449188233,
+              0.7761315703392029
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12510142475366587,
+              -0.06272804737091059,
+              0.03447270393371582
+            ],
+            "min_contact_pad_to_button": 0.021097087758810362,
+            "closest_contact_pad": [
+              0.11465646326541896,
+              -0.41850987076759344,
+              0.7901676534593414
+            ],
+            "closest_contact_pad_button": [
+              0.11465646326541896,
+              -0.41850987076759344,
+              0.769070565700531
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021097087758810362
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0588be352894c8c8da022d89f0e649e03b4fb712e7d009e20f033739d6c3eb49",
+    "visual_seed": 7814154932935769079,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..94a9d0b2eeef121b56d6305274f7071f7d3968cd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_33_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2229117375314884,
+              0.26548787746520897,
+              1.1626856298040642
+            ],
+            "current_z": 1.1626856298040642,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.3015790025800086,
+            "gripper_z": 1.1550970287165736,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21767834974157477,
+              0.2603308185752562,
+              1.1550970287165736
+            ],
+            "object_minus_gripper": [
+              0.0052333877899136405,
+              0.00515705888995277,
+              0.0075886010874905985
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+            "object_to_gripper_xy": 0.007347353547642721,
+            "object_to_gripper_z": 0.0075886010874905985,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2229117375314884,
+              0.24131680391847898,
+              1.1626856298040642
+            ],
+            "finger_b": [
+              0.21143564577691226,
+              0.26548787746520897,
+              1.1626856298040642
+            ],
+            "finger_midpoint": [
+              0.21717369165420033,
+              0.253402340691844,
+              1.1626856298040642
+            ],
+            "object_minus_finger_midpoint": [
+              0.005738045877288073,
+              0.012085536773364991,
+              0.0
+            ],
+            "finger_gap": 0.026757082770004666,
+            "fingertip_max_gap": 0.09072586771632402,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013378541385002333,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1626856298040642,
+            "object_top_z": 1.2126066792029817,
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+            "fingertip_min_top_clearance": 0.01497631481967525,
+            "object_projection_between_fingers": 0.8160454646922063,
+            "object_to_finger_line_xy": 0.01036695443270974,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04786293385816201,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2932074048689557,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 364,
+            "max_stable_success_frames": 364,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2678055111869217,
+              -0.3540114372730428,
+              0.851539547635517
+            ],
+            "target_position": [
+              0.2599587610205855,
+              -0.35469488543095223,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007876457932182885,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1843501941099555,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539547635517,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567222744540017,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08499584665118616,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15181327215935358,
+            "release_required_pad_clearance": 0.05249792332559308,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.068528014801662,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.007352769374847412,
+            "max_z_decrease": 0.007352769374847412,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035132773088547835,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007352769374847412,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02129931462448353,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007352769374847412,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007352790337551709,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11565868556499478,
+              -0.41095635294914246,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11565868556499478,
+              -0.41095635294914246,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11490819676406647,
+              -0.4130296405877948,
+              0.8077405149298231
+            ],
+            "closest_button": [
+              0.11564935743808745,
+              -0.4109519422054291,
+              0.7726770639419556
+            ],
+            "closest_ee_minus_button": [
+              -0.0007411606740209825,
+              -0.0020776983823657114,
+              0.03506345098786756
+            ],
+            "button_min_z_position": [
+              0.1156416833400726,
+              -0.41095197200775146,
+              0.7694560885429382
+            ],
+            "min_active_finger_to_button": 0.14673222077319165,
+            "closest_active_finger": [
+              -0.026349090039730072,
+              -0.39787161350250244,
+              0.8109462261199951
+            ],
+            "closest_active_finger_button": [
+              0.11565963923931119,
+              -0.4109562635421753,
+              0.7764113545417786
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14200872927904126,
+              0.013084650039672852,
+              0.03453487157821655
+            ],
+            "min_contact_pad_to_button": 0.02129931462448353,
+            "closest_contact_pad": [
+              0.1156416833400726,
+              -0.41409453204553304,
+              0.7905222965520147
+            ],
+            "closest_contact_pad_button": [
+              0.1156416833400726,
+              -0.41095197200775146,
+              0.7694560885429382
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003142560037781572,
+              0.021066208009076437
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9a653ce1185c6cfcbdef7abd67340a4b08cf47b862912a98887390e7020c2cc5",
+    "visual_seed": 3401807924129122727,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7402172a2acc3ba55a89940e967217da69a36ce4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_34_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.22463064315711687,
+              0.25751524504359946,
+              1.1594192259370373
+            ],
+            "current_z": 1.1594192259370373,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.2983126583176263,
+            "gripper_z": 1.1520504856692986,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21914980535527367,
+              0.25234219222887333,
+              1.1520504856692986
+            ],
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+              0.005480837801843191,
+              0.005173052814726131,
+              0.007368740267738705
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+            "object_to_gripper_xy": 0.0075365813492630235,
+            "object_to_gripper_z": 0.007368740267738705,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22463064315711687,
+              0.23295658900321584,
+              1.1594192259370373
+            ],
+            "finger_b": [
+              0.21344477170438345,
+              0.25751524504359946,
+              1.1594192259370373
+            ],
+            "finger_midpoint": [
+              0.21903770743075016,
+              0.24523591702340763,
+              1.1594192259370373
+            ],
+            "object_minus_finger_midpoint": [
+              0.00559293572636671,
+              0.012279328020191826,
+              0.0
+            ],
+            "finger_gap": 0.02698613174700938,
+            "fingertip_max_gap": 0.09075589806107845,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013493065873504703,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1594192259370373,
+            "object_top_z": 1.2093706931869725,
+            "finger_top_clearance": 0.049951467249935266,
+            "fingertip_min_top_clearance": 0.014985440174980547,
+            "object_projection_between_fingers": 0.8281860684469743,
+            "object_to_finger_line_xy": 0.010179671992080532,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04787794903053923,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3399362945921556,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27491048593182177,
+              -0.35249822775855577,
+              0.8515395691376604
+            ],
+            "target_position": [
+              0.2656570248176975,
+              -0.3536214729227394,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009321385213018079,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18538058454645315,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395691376604,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558503459949442,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336883,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15310926321306606,
+            "release_required_pad_clearance": 0.052461859836684416,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007557988166809082,
+            "max_z_decrease": 0.007557988166809082,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035122027740782186,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007557988166809082,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02123768461000671,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007557988166809082,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007558008589544478,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12135694921016693,
+              -0.40988293290138245,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12135694921016693,
+              -0.40988293290138245,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12107446666532462,
+              -0.41165256857550747,
+              0.8076107875314379
+            ],
+            "closest_button": [
+              0.1213461607694626,
+              -0.40987923741340637,
+              0.7725346088409424
+            ],
+            "closest_ee_minus_button": [
+              -0.0002716941041379789,
+              -0.0017733311621010994,
+              0.03507617869049551
+            ],
+            "button_min_z_position": [
+              0.12133956700563432,
+              -0.4098803699016571,
+              0.7692508697509766
+            ],
+            "min_active_finger_to_button": 0.14630726748363856,
+            "closest_active_finger": [
+              -0.02025677263736725,
+              -0.3972215950489044,
+              0.8107675313949585
+            ],
+            "closest_active_finger_button": [
+              0.12135759741067888,
+              -0.409881055355072,
+              0.7762577533721924
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1416143700480461,
+              0.012659460306167603,
+              0.03450977802276611
+            ],
+            "min_contact_pad_to_button": 0.02123768461000671,
+            "closest_contact_pad": [
+              0.12133956700563432,
+              -0.4125794955366342,
+              0.7903163383762107
+            ],
+            "closest_contact_pad_button": [
+              0.12133956700563432,
+              -0.4098803699016571,
+              0.7692508697509766
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026991256349770953,
+              0.021065468625234174
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "be9e106d570b464dd9939e85ca6c57a15f0052c1d28a00f9d6d819bb92fd85d5",
+    "visual_seed": 5327254107176185057,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..34a90f63e81900d5e6f1ec90aabb6b0fca93c392
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_35_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.22232641146918136,
+              0.26344355590860763,
+              1.1620309469219228
+            ],
+            "current_z": 1.1620309469219228,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.3009242600932226,
+            "gripper_z": 1.1546485935164834,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21697988946616423,
+              0.2582521888709312,
+              1.1546485935164834
+            ],
+            "object_minus_gripper": [
+              0.0053465220030171345,
+              0.00519136703767642,
+              0.007382353405439357
+            ],
+            "object_to_gripper_xy": 0.007452220424049439,
+            "object_to_gripper_z": 0.007382353405439357,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22232641146918136,
+              0.23905049142992546,
+              1.1620309469219228
+            ],
+            "finger_b": [
+              0.21101754611669973,
+              0.26344355590860763,
+              1.1620309469219228
+            ],
+            "finger_midpoint": [
+              0.21667197879294053,
+              0.25124702366926654,
+              1.1620309469219228
+            ],
+            "object_minus_finger_midpoint": [
+              0.005654432676240828,
+              0.012196532239341085,
+              0.0
+            ],
+            "finger_gap": 0.0268870234541071,
+            "fingertip_max_gap": 0.0907280904254377,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013443511727053555,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1620309469219228,
+            "object_top_z": 1.2119724460033676,
+            "finger_top_clearance": 0.04994149908144485,
+            "fingertip_min_top_clearance": 0.014982449724433454,
+            "object_projection_between_fingers": 0.8230899055292556,
+            "object_to_finger_line_xy": 0.010259889206206668,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04786404521271885,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.25622393863908755,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2758081283192253,
+              -0.3546587637080705,
+              0.8515395581778489
+            ],
+            "target_position": [
+              0.2663940192944043,
+              -0.35601547585244425,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009511367755160514,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18651723367456957,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395581778489,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558326668070253,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496536728340996,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15437000472515675,
+            "release_required_pad_clearance": 0.05248268364170498,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0395646705348404,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007605612277984619,
+            "max_z_decrease": 0.007605612277984619,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512682231438755,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007605612277984619,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021077936780288666,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007605612277984619,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007605634899569834,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12209394574165343,
+              -0.41227692365646357,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12209394574165343,
+              -0.41227692365646357,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12301274295800058,
+              -0.4114479871790032,
+              0.8080451068264912
+            ],
+            "closest_button": [
+              0.12208930402994154,
+              -0.41227474808692927,
+              0.7729401588439941
+            ],
+            "closest_ee_minus_button": [
+              0.000923438928059031,
+              0.0008267609079260496,
+              0.03510494798249708
+            ],
+            "button_min_z_position": [
+              0.12207546830177306,
+              -0.4122752845287323,
+              0.769203245639801
+            ],
+            "min_active_finger_to_button": 0.14504293305946706,
+            "closest_active_finger": [
+              -0.0050508007407188416,
+              -0.4730491638183594,
+              0.8110871315002441
+            ],
+            "closest_active_finger_button": [
+              0.1220976635813713,
+              -0.41227471828460693,
+              0.7767769694328308
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12714846432209015,
+              -0.06077444553375244,
+              0.03431016206741333
+            ],
+            "min_contact_pad_to_button": 0.021077936780288666,
+            "closest_contact_pad": [
+              0.12207546830177306,
+              -0.4126161579388721,
+              0.790278425929234
+            ],
+            "closest_contact_pad_button": [
+              0.12207546830177306,
+              -0.4122752845287323,
+              0.769203245639801
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003408734101397748,
+              0.021075180289433004
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7562b245ce8fed4fe067c26a0d4174e927efcfe06d887afd295be1e9a7b33825",
+    "visual_seed": 8270678627201582135,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd82ab1bfcf6dae3822c143dcdab03d97b4ca94b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_36_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21835143086115766,
+              0.2678526806985767,
+              1.1610825612045863
+            ],
+            "current_z": 1.1610825612045863,
+            "required_z": 0.8611068656426344,
+            "initial_z": 0.7611068656426344,
+            "lift_margin": 0.2999756955619519,
+            "gripper_z": 1.1537354274124931,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21301285774488912,
+              0.262693201559905,
+              1.1537354274124931
+            ],
+            "object_minus_gripper": [
+              0.005338573116268536,
+              0.005159479138671708,
+              0.0073471337920931745
+            ],
+            "object_to_gripper_xy": 0.007424324070252704,
+            "object_to_gripper_z": 0.0073471337920931745,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21835143086115766,
+              0.24346486727252942,
+              1.1610825612045863
+            ],
+            "finger_b": [
+              0.20709244881336628,
+              0.2678526806985767,
+              1.1610825612045863
+            ],
+            "finger_midpoint": [
+              0.21272193983726195,
+              0.25565877398555303,
+              1.1610825612045863
+            ],
+            "object_minus_finger_midpoint": [
+              0.005629491023895705,
+              0.012193906713023672,
+              0.0
+            ],
+            "finger_gap": 0.026861312709102306,
+            "fingertip_max_gap": 0.09063435894195523,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013430656354551184,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1610825612045863,
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+            "finger_top_clearance": 0.049951429243959566,
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+            "object_projection_between_fingers": 0.824311316799439,
+            "object_to_finger_line_xy": 0.010222209038045516,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04781717947097762,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.24771284782733066,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27129589359725104,
+              -0.3583887944733319,
+              0.8515395139240759
+            ],
+            "target_position": [
+              0.262172354241724,
+              -0.3593846642489588,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00917772994709789,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1866490225802851,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395139240759,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534225830909169,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08628805831029472,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15491502010401328,
+            "release_required_pad_clearance": 0.05314402915514736,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3134116143918955,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076225996017456055,
+            "max_z_decrease": 0.0076225996017456055,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510087689091778,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076225996017456055,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02115858670984152,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0076225996017456055,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007622623629110656,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11787228286266324,
+              -0.4156461358070373,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11787228286266324,
+              -0.4156461358070373,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11735300118348449,
+              -0.4166787217469837,
+              0.8076792459021693
+            ],
+            "closest_button": [
+              0.1178614720702171,
+              -0.4156418144702911,
+              0.7725973725318909
+            ],
+            "closest_ee_minus_button": [
+              -0.0005084708867326149,
+              -0.0010369072766926446,
+              0.03508187337027846
+            ],
+            "button_min_z_position": [
+              0.11785344779491423,
+              -0.41564273834228516,
+              0.76918625831604
+            ],
+            "min_active_finger_to_button": 0.146582488806118,
+            "closest_active_finger": [
+              -0.023696228861808777,
+              -0.39963480830192566,
+              0.8112401366233826
+            ],
+            "closest_active_finger_button": [
+              0.11787623167037961,
+              -0.4156441688537597,
+              0.7767819762229919
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1415724605321884,
+              0.01600936055183405,
+              0.034458160400390625
+            ],
+            "min_contact_pad_to_button": 0.02115858670984152,
+            "closest_contact_pad": [
+              0.11785344779491423,
+              -0.4178090579238398,
+              0.7902336536662599
+            ],
+            "closest_contact_pad_button": [
+              0.11785344779491423,
+              -0.41564273834228516,
+              0.76918625831604
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021663195815546654,
+              0.021047395350219822
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7bc2bdace69a1c818dd8cee86f279a46c6c9561b6330d021b54f6e22e3921562",
+    "visual_seed": 1728076844166606859,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..864a16009ad3327d93e6755cc900511c9b0c1ac6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_37_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.22025049098186006,
+              0.26643613389892196,
+              1.1612632506898501
+            ],
+            "current_z": 1.1612632506898501,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.3001565638611501,
+            "gripper_z": 1.1539517407301645,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2148142314710543,
+              0.2611718997656221,
+              1.1539517407301645
+            ],
+            "object_minus_gripper": [
+              0.005436259510805758,
+              0.00526423413329985,
+              0.007311509959685658
+            ],
+            "object_to_gripper_xy": 0.007567369323551301,
+            "object_to_gripper_z": 0.007311509959685658,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22025049098186006,
+              0.2419612546148516,
+              1.1612632506898501
+            ],
+            "finger_b": [
+              0.2088677114522586,
+              0.26643613389892196,
+              1.1612632506898501
+            ],
+            "finger_midpoint": [
+              0.21455910121705934,
+              0.2541986942568868,
+              1.1612632506898501
+            ],
+            "object_minus_finger_midpoint": [
+              0.005691389764800714,
+              0.012237439642035164,
+              0.0
+            ],
+            "finger_gap": 0.026992357914590016,
+            "fingertip_max_gap": 0.09082158009524877,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013496178957294989,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1612632506898501,
+            "object_top_z": 1.2112714514812217,
+            "finger_top_clearance": 0.05000820079137158,
+            "fingertip_min_top_clearance": 0.015002460237411508,
+            "object_projection_between_fingers": 0.8221659167497881,
+            "object_to_finger_line_xy": 0.010321149259568655,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047910790047624385,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3381462728036543,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27183543705007196,
+              -0.3556060160332538,
+              0.8515395641294398
+            ],
+            "target_position": [
+              0.26194173231189505,
+              -0.3567700553396445,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009961946644760088,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18795124376813782,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395641294398,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516617549711269,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08630385658871874,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15677840533951812,
+            "release_required_pad_clearance": 0.05315192829435937,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3288154257649982,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007341623306274414,
+            "max_z_decrease": 0.007341623306274414,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035122742199580184,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007341623306274414,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021142159791281576,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007341623306274414,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007341640060141406,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11764165759086607,
+              -0.41303151845932007,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11764165759086607,
+              -0.41303151845932007,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1158682428029423,
+              -0.41377698395525586,
+              0.808062418976614
+            ],
+            "closest_button": [
+              0.11763278394937514,
+              -0.41302853822708135,
+              0.7729920148849487
+            ],
+            "closest_ee_minus_button": [
+              -0.0017645411464328326,
+              -0.0007484457281745072,
+              0.035070404091665286
+            ],
+            "button_min_z_position": [
+              0.11762621998786926,
+              -0.413028746843338,
+              0.7694672346115112
+            ],
+            "min_active_finger_to_button": 0.1478262846033942,
+            "closest_active_finger": [
+              -0.025049276649951935,
+              -0.39552241563796997,
+              0.8108119964599609
+            ],
+            "closest_active_finger_button": [
+              0.11764179915189742,
+              -0.4130317270755768,
+              0.7763839364051819
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14269107580184937,
+              0.01750931143760681,
+              0.03442806005477905
+            ],
+            "min_contact_pad_to_button": 0.021142159791281576,
+            "closest_contact_pad": [
+              0.11762621998786926,
+              -0.4150431101379626,
+              0.7905132143025912
+            ],
+            "closest_contact_pad_button": [
+              0.11762621998786926,
+              -0.413028746843338,
+              0.7694672346115112
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002014363294624566,
+              0.02104597969108002
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2ab2e146b1cc15a9d7ee81b1831dbd67c6778ba96aa68959c7d36cb909fd6c3d",
+    "visual_seed": 7118849629120362578,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b092c1bd96c0a793db932f161c355efe0d0fd067
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_38_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.224746338341826,
+              0.26616073572388677,
+              1.160055271479325
+            ],
+            "current_z": 1.160055271479325,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.29894864425526957,
+            "gripper_z": 1.1524631567619492,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21944488668514092,
+              0.26095059193941783,
+              1.1524631567619492
+            ],
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+              0.00530145165668508,
+              0.005210143784468935,
+              0.007592114717375864
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+            "object_to_gripper_xy": 0.007433100828255275,
+            "object_to_gripper_z": 0.007592114717375864,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.224746338341826,
+              0.24195066496727272,
+              1.160055271479325
+            ],
+            "finger_b": [
+              0.21318570781400079,
+              0.26616073572388677,
+              1.160055271479325
+            ],
+            "finger_midpoint": [
+              0.2189660230779134,
+              0.2540557003455797,
+              1.160055271479325
+            ],
+            "object_minus_finger_midpoint": [
+              0.005780315263912594,
+              0.012105035378307039,
+              0.0
+            ],
+            "finger_gap": 0.026828635899746062,
+            "fingertip_max_gap": 0.09086148194806914,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.160055271479325,
+            "object_top_z": 1.2099908506558843,
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+            "object_projection_between_fingers": 0.8143196867949452,
+            "object_to_finger_line_xy": 0.010432274086375372,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047930740974034575,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.38358035151813685,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 361,
+            "max_stable_success_frames": 361,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27183624496694236,
+              -0.36144362936620866,
+              0.8515395725952719
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+            "target_position": [
+              0.2623925911864415,
+              -0.3626810522376467,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00952437987948436,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18608468624307573,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395725952719,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517031041009023,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08653693773186479,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1550518470305334,
+            "release_required_pad_clearance": 0.053268468865932395,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5566697836194687,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075722336769104,
+            "max_z_decrease": 0.0075722336769104,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513914143797577,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075722336769104,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021251025260100816,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0075722336769104,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007572256739041846,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11809251457452771,
+              -0.4189425110816955,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11809251457452771,
+              -0.4189425110816955,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1166020235008306,
+              -0.4209408692039345,
+              0.8077652008848042
+            ],
+            "closest_button": [
+              0.11808423697948453,
+              -0.4189372360706329,
+              0.7727145552635193
+            ],
+            "closest_ee_minus_button": [
+              -0.001482213478653932,
+              -0.0020036331333015966,
+              0.035050645621284904
+            ],
+            "button_min_z_position": [
+              0.11807455122470853,
+              -0.4189373552799224,
+              0.7692366242408752
+            ],
+            "min_active_finger_to_button": 0.14748942913953486,
+            "closest_active_finger": [
+              -0.024813123047351837,
+              -0.4072282016277313,
+              0.8109908699989319
+            ],
+            "closest_active_finger_button": [
+              0.118093267083168,
+              -0.4189425110816955,
+              0.7764413356781006
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14290639013051984,
+              0.011714309453964178,
+              0.0345495343208313
+            ],
+            "min_contact_pad_to_button": 0.021251025260100816,
+            "closest_contact_pad": [
+              0.11807455122470853,
+              -0.42185300493318284,
+              0.7902866850888843
+            ],
+            "closest_contact_pad_button": [
+              0.11807455122470853,
+              -0.4189373552799224,
+              0.7692366242408752
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002915649653260466,
+              0.02105006084800909
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0e566664bb018b9e40f7da649240948a328593b75227fb142ef54ad981475f3b",
+    "visual_seed": 6453164196595137410,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..34bb2111aa13abc648905416e0bf687577cf96e4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_39_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.22424095356128443,
+              0.2615213242333089,
+              1.159770471880242
+            ],
+            "current_z": 1.159770471880242,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.2986636658422521,
+            "gripper_z": 1.1523661945135641,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21885192686852828,
+              0.2562998687269636,
+              1.1523661945135641
+            ],
+            "object_minus_gripper": [
+              0.005389026692756149,
+              0.0052214555063453405,
+              0.007404277366677814
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+            "object_to_gripper_xy": 0.007503679517408933,
+            "object_to_gripper_z": 0.007404277366677814,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22424095356128443,
+              0.23715648965804373,
+              1.159770471880242
+            ],
+            "finger_b": [
+              0.21281746349285396,
+              0.2615213242333089,
+              1.159770471880242
+            ],
+            "finger_midpoint": [
+              0.2185292085270692,
+              0.24933890694567634,
+              1.159770471880242
+            ],
+            "object_minus_finger_midpoint": [
+              0.005711745034215232,
+              0.012182417287632585,
+              0.0
+            ],
+            "finger_gap": 0.026909873452388586,
+            "fingertip_max_gap": 0.09068255697224009,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013454936726194279,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.159770471880242,
+            "object_top_z": 1.2097324946179984,
+            "finger_top_clearance": 0.049962022737756406,
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+            "object_projection_between_fingers": 0.8197919007167113,
+            "object_to_finger_line_xy": 0.010343097535629175,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04784127848612005,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.30710059526644806,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27711025885190727,
+              -0.35527029484382217,
+              0.8515395570582226
+            ],
+            "target_position": [
+              0.2679145743838597,
+              -0.35643051191694,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009268587621242278,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18474424154234942,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395570582226,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517434087733751,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08661114368670887,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15359546646847377,
+            "release_required_pad_clearance": 0.05330557184335444,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6293870504189167,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007761716842651367,
+            "max_z_decrease": 0.007761716842651367,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350975080296741,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007761716842651367,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02116285929149457,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007761716842651367,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0077617372771698655,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12361449748277663,
+              -0.41269198060035706,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12361449748277663,
+              -0.41269198060035706,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12263594058864943,
+              -0.4137805694869131,
+              0.8075164538250815
+            ],
+            "closest_button": [
+              0.12360410392284392,
+              -0.4126881062984466,
+              0.7724493145942688
+            ],
+            "closest_ee_minus_button": [
+              -0.0009681633341944856,
+              -0.0010924631884665081,
+              0.03506713923081273
+            ],
+            "button_min_z_position": [
+              0.12359718978404997,
+              -0.4126877784729004,
+              0.7690471410751343
+            ],
+            "min_active_finger_to_button": 0.14704984230847992,
+            "closest_active_finger": [
+              -0.018739834427833557,
+              -0.3997029662132263,
+              0.8111053705215454
+            ],
+            "closest_active_finger_button": [
+              0.12361486256122588,
+              -0.4126923084259033,
+              0.7766079306602478
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14235469698905945,
+              0.012989342212677002,
+              0.03449743986129761
+            ],
+            "min_contact_pad_to_button": 0.02116285929149457,
+            "closest_contact_pad": [
+              0.12359718978404997,
+              -0.4147438336877586,
+              0.7901098866308555
+            ],
+            "closest_contact_pad_button": [
+              0.12359718978404997,
+              -0.4126877784729004,
+              0.7690471410751343
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002056055214858188,
+              0.021062745555721185
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5e4333ab9955ede61611ae565c55a6c5b2f1c3d46a8e19e7627811e88b94c318",
+    "visual_seed": 8342855273449027448,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcc71e0f75da93bbd2ce9ce032b05f56eae3f3cc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_3_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.219177019836746,
+              0.2611328255428965,
+              1.1617393420313977
+            ],
+            "current_z": 1.1617393420313977,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.30063265520269755,
+            "gripper_z": 1.1544123768499304,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2139666062771558,
+              0.2559408251243382,
+              1.1544123768499304
+            ],
+            "object_minus_gripper": [
+              0.005210413559590205,
+              0.005192000418558329,
+              0.00732696518146736
+            ],
+            "object_to_gripper_xy": 0.00735562898794327,
+            "object_to_gripper_z": 0.00732696518146736,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.219177019836746,
+              0.23685805078632258,
+              1.1617393420313977
+            ],
+            "finger_b": [
+              0.20783459923356384,
+              0.2611328255428965,
+              1.1617393420313977
+            ],
+            "finger_midpoint": [
+              0.2135058095351549,
+              0.24899543816460956,
+              1.1617393420313977
+            ],
+            "object_minus_finger_midpoint": [
+              0.005671210301591095,
+              0.012137387378286957,
+              0.0
+            ],
+            "finger_gap": 0.02679393951291767,
+            "fingertip_max_gap": 0.09077356001586373,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013396969756458828,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1617393420313977,
+            "object_top_z": 1.2116819243725296,
+            "finger_top_clearance": 0.049942582341131914,
+            "fingertip_min_top_clearance": 0.014982774702339573,
+            "object_projection_between_fingers": 0.8207998575552528,
+            "object_to_finger_line_xy": 0.010276006826238755,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04788678000793187,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2827649468216739,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 359,
+            "max_stable_success_frames": 359,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27104504704040155,
+              -0.35497312078138704,
+              0.8515396036469376
+            ],
+            "target_position": [
+              0.26173817101245167,
+              -0.3561955722221357,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00938681676206672,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18548842490579032,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396036469376,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540827734037067,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08540703585183672,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15362036452317057,
+            "release_required_pad_clearance": 0.05270351792591836,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.46139981992751794,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007314622402191162,
+            "max_z_decrease": 0.007314622402191162,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035158628167409535,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007314622402191162,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021262392866942724,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007314622402191162,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00731464379209762,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11743810027837752,
+              -0.4124570190906524,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11743810027837752,
+              -0.4124570190906524,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11551951880613381,
+              -0.4142574394403145,
+              0.807951705890103
+            ],
+            "closest_button": [
+              0.11742823570966718,
+              -0.4124539196491241,
+              0.7728912830352783
+            ],
+            "closest_ee_minus_button": [
+              -0.001908716903533364,
+              -0.0018035197911904222,
+              0.03506042285482469
+            ],
+            "button_min_z_position": [
+              0.11742080748081204,
+              -0.41245329380035395,
+              0.7694942355155945
+            ],
+            "min_active_finger_to_button": 0.1478370030990596,
+            "closest_active_finger": [
+              -0.025430724024772644,
+              -0.39637988805770874,
+              0.8108556270599365
+            ],
+            "closest_active_finger_button": [
+              0.11743803322315213,
+              -0.41245672106742853,
+              0.7764196991920471
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14286875724792478,
+              0.016076833009719793,
+              0.034435927867889404
+            ],
+            "min_contact_pad_to_button": 0.021262392866942724,
+            "closest_contact_pad": [
+              0.11742080748081204,
+              -0.41554018343783067,
+              0.7905313565827523
+            ],
+            "closest_contact_pad_button": [
+              0.11742080748081204,
+              -0.41245329380035395,
+              0.7694942355155945
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030868896374767196,
+              0.021037121067157827
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3df91a5f31a961efa7162f819ac201458c983c46c454bbe8e3d679272fdd5463",
+    "visual_seed": 1766134318542350686,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..84dfad1e0556e62bace64673e2212288e5018f62
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_40_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.22579250158211733,
+              0.2645830598143064,
+              1.159430788658895
+            ],
+            "current_z": 1.159430788658895,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.2983242806441291,
+            "gripper_z": 1.1517991340822133,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22045110973607865,
+              0.2595234575574754,
+              1.1517991340822133
+            ],
+            "object_minus_gripper": [
+              0.0053413918460386844,
+              0.005059602256830997,
+              0.00763165457668169
+            ],
+            "object_to_gripper_xy": 0.007357312134893956,
+            "object_to_gripper_z": 0.00763165457668169,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22579250158211733,
+              0.24006278419936736,
+              1.159430788658895
+            ],
+            "finger_b": [
+              0.21485087507909448,
+              0.2645830598143064,
+              1.159430788658895
+            ],
+            "finger_midpoint": [
+              0.2203216883306059,
+              0.25232292200683687,
+              1.159430788658895
+            ],
+            "object_minus_finger_midpoint": [
+              0.005470813251511442,
+              0.01226013780746954,
+              0.0
+            ],
+            "finger_gap": 0.026850756167456937,
+            "fingertip_max_gap": 0.09069852322718014,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013425378083728488,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.159430788658895,
+            "object_top_z": 1.2093880651340134,
+            "finger_top_clearance": 0.049957276475118384,
+            "fingertip_min_top_clearance": 0.014987182942535482,
+            "object_projection_between_fingers": 0.8339454690421444,
+            "object_to_finger_line_xy": 0.009991960593460355,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04784926161359007,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2919130357143162,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
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+              "source_missing": false,
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+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2684431657436358,
+              -0.3597284586284131,
+              0.8515395803821323
+            ],
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+              0.2599831445237352,
+              -0.36041308009477013,
+              0.8084375599031817
+            ],
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18573980377715296,
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+            "gripper_away_ok": true,
+            "object_z": 0.8515395803821323,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4941630999833734,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007887840270996094,
+            "max_z_decrease": 0.007887840270996094,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515925373452745,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007887840270996094,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02129311953098943,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007887840270996094,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0078878631465807,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11568307131528853,
+              -0.4166745245456695,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11568307131528853,
+              -0.4166745245456695,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11703944878256509,
+              -0.41866307695026544,
+              0.8071730977328315
+            ],
+            "closest_button": [
+              0.11567095667123792,
+              -0.41667026281356806,
+              0.7720970511436462
+            ],
+            "closest_ee_minus_button": [
+              0.0013684921113271686,
+              -0.001992814136697385,
+              0.035076046589185284
+            ],
+            "button_min_z_position": [
+              0.1156642362475395,
+              -0.41667205095291127,
+              0.7689210176467896
+            ],
+            "min_active_finger_to_button": 0.1447112132342273,
+            "closest_active_finger": [
+              -0.024312704801559448,
+              -0.4045203626155853,
+              0.811089038848877
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+            "closest_active_finger_button": [
+              0.11568468064069747,
+              -0.41667222976684565,
+              0.7765289545059204
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13999738544225693,
+              0.01215186715126032,
+              0.03456008434295654
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+            "min_contact_pad_to_button": 0.02129311953098943,
+            "closest_contact_pad": [
+              0.1156642362475395,
+              -0.4195750951145242,
+              0.7900153124668761
+            ],
+            "closest_contact_pad_button": [
+              0.1156642362475395,
+              -0.41667205095291127,
+              0.7689210176467896
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002903044161612911,
+              0.021094294820086512
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3b8ae1fdf6f19e32b6e2611a8b4497bccb59a32135d8661dd0ae52ea1140fbd2",
+    "visual_seed": 5042715711998925265,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..57d20f3e9a9a949bd963a13cb85b2f486f34c489
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_41_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "object_position": [
+              0.22412672743037948,
+              0.26487705410556484,
+              1.161692619799297
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+            "lift_margin": 0.30058593297059666,
+            "gripper_z": 1.1543349787308166,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21877815072083723,
+              0.25964858981273425,
+              1.1543349787308166
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+              0.005348576709542252,
+              0.005228464292830581,
+              0.007357641068480358
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+            "object_to_gripper_z": 0.007357641068480358,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24063634627748068,
+              1.161692619799297
+            ],
+            "finger_b": [
+              0.2125365771453287,
+              0.26487705410556484,
+              1.161692619799297
+            ],
+            "finger_midpoint": [
+              0.2183316522878541,
+              0.25275670019152274,
+              1.161692619799297
+            ],
+            "object_minus_finger_midpoint": [
+              0.005795075142525391,
+              0.012120353914042092,
+              0.0
+            ],
+            "finger_gap": 0.02686900630162201,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161692619799297,
+            "object_top_z": 1.2116350915997034,
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+            "object_projection_between_fingers": 0.8139306141025168,
+            "object_to_finger_line_xy": 0.010456413742645257,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047910329997342904,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 363,
+            "max_stable_success_frames": 363,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26987137465824446,
+              -0.3568422078347223,
+              0.8515395895209867
+            ],
+            "target_position": [
+              0.2606123196041587,
+              -0.358143648038052,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009350072037018414,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1862483472827059,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395895209867,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559488350888817,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0849958415275965,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15393222212112567,
+            "release_required_pad_clearance": 0.05249792076379825,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.06852801554624906,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007467508316040039,
+            "max_z_decrease": 0.007467508316040039,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510576595376697,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007467508316040039,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021096384466687244,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007467508316040039,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007467537084250825,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11631224304437635,
+              -0.41440510749816895,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11631224304437635,
+              -0.41440510749816895,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11707912527957459,
+              -0.4139044420533294,
+              0.8078097507267535
+            ],
+            "closest_button": [
+              0.11630193144083019,
+              -0.41440123319625854,
+              0.7727161049842834
+            ],
+            "closest_ee_minus_button": [
+              0.0007771938387444027,
+              0.0004967911429291649,
+              0.03509364574247009
+            ],
+            "button_min_z_position": [
+              0.1162917390465736,
+              -0.41440206766128534,
+              0.7693413496017456
+            ],
+            "min_active_finger_to_button": 0.14531158455291038,
+            "closest_active_finger": [
+              -0.010802574455738068,
+              -0.47583475708961487,
+              0.8107038736343384
+            ],
+            "closest_active_finger_button": [
+              0.11631289124488826,
+              -0.4144033193588257,
+              0.7763048410415649
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12711546570062632,
+              -0.061431437730789185,
+              0.03439903259277344
+            ],
+            "min_contact_pad_to_button": 0.021096384466687244,
+            "closest_contact_pad": [
+              0.1162917390465736,
+              -0.4150909658866136,
+              0.7904264831512734
+            ],
+            "closest_contact_pad_button": [
+              0.1162917390465736,
+              -0.41440206766128534,
+              0.7693413496017456
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006888982253282494,
+              0.02108513354952779
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c8f0176b983b41dd45a2e1def942454151b3b53609dd77a8b9605bdaf528fdd5",
+    "visual_seed": 5168290944015134298,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d24b6cc070cbd7ed724338252a46642c913615f0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_42_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.26683047262102316,
+              1.161227908889821
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+            "current_z": 1.161227908889821,
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+            "lift_margin": 0.3001213412704101,
+            "gripper_z": 1.153897870635275,
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+            "gripper_position": [
+              0.21215997361520644,
+              0.26163213163559484,
+              1.153897870635275
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+              0.005254986581293891,
+              0.005198340985428318,
+              0.007330038254546034
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+            "object_to_gripper_z": 0.007330038254546034,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.21741496019650033,
+              0.2425875122793425,
+              1.161227908889821
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+            "finger_b": [
+              0.20598727311222106,
+              0.26683047262102316,
+              1.161227908889821
+            ],
+            "finger_midpoint": [
+              0.2117011166543607,
+              0.25470899245018286,
+              1.161227908889821
+            ],
+            "object_minus_finger_midpoint": [
+              0.005713843542139635,
+              0.012121480170840304,
+              0.0
+            ],
+            "finger_gap": 0.02680136485749382,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013400682428746884,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161227908889821,
+            "object_top_z": 1.2111687183760234,
+            "finger_top_clearance": 0.04994080948620239,
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+            "object_projection_between_fingers": 0.8181962412898087,
+            "object_to_finger_line_xy": 0.01033682300339477,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047835549331046515,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2635164191893874,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27265463910042903,
+              -0.3539644463345188,
+              0.8515395643648971
+            ],
+            "target_position": [
+              0.2641487752777005,
+              -0.35515818754447814,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008589222167761038,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18371818197206824,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395643648971,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588787901306855,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08506159356482522,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1508377274792804,
+            "release_required_pad_clearance": 0.05253079678241261,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.13122121119028538,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007355213165283203,
+            "max_z_decrease": 0.007355213165283203,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035137894988700236,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007355213165283203,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021231856378772573,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007355213165283203,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007355235105051845,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11984869837760923,
+              -0.41141965985298157,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11984869837760923,
+              -0.41141965985298157,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11853586683258971,
+              -0.4129685920853611,
+              0.808002120054879
+            ],
+            "closest_button": [
+              0.1198383644223213,
+              -0.4114164710044861,
+              0.772922694683075
+            ],
+            "closest_ee_minus_button": [
+              -0.0013024975897315966,
+              -0.0015521210808749908,
+              0.035079425371804085
+            ],
+            "button_min_z_position": [
+              0.11983104050159453,
+              -0.41141635179519653,
+              0.7694536447525024
+            ],
+            "min_active_finger_to_button": 0.14726593370421806,
+            "closest_active_finger": [
+              -0.022356100380420685,
+              -0.39462989568710327,
+              0.810777485370636
+            ],
+            "closest_active_finger_button": [
+              0.11984871327877042,
+              -0.411419540643692,
+              0.7763804793357849
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1422048136591911,
+              0.016789644956588745,
+              0.034397006034851074
+            ],
+            "min_contact_pad_to_button": 0.021231856378772573,
+            "closest_contact_pad": [
+              0.11983104050159453,
+              -0.4142578742482946,
+              0.7904944972883995
+            ],
+            "closest_contact_pad_button": [
+              0.11983104050159453,
+              -0.41141635179519653,
+              0.7694536447525024
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028415224530980443,
+              0.021040852535897048
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8999059bd4a08c583415210171e1e9f1d177e106a73c957e5c337fe874149071",
+    "visual_seed": 6967837738470473958,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..878e2f0dcea5fcdca924381cb1b802d4281d872a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_43_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.26432933514956514,
+              1.1631768065670864
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+            "lift_margin": 0.30206964290122806,
+            "gripper_z": 1.1555959275943108,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2142029172459934,
+              0.25920713156295816,
+              1.1555959275943108
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+            "object_minus_gripper": [
+              0.00524561620997005,
+              0.005122203586606977,
+              0.007580878972775595
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+            "object_to_gripper_xy": 0.00733167504769203,
+            "object_to_gripper_z": 0.007580878972775595,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21944853345596346,
+              0.23997530372188286,
+              1.1631768065670864
+            ],
+            "finger_b": [
+              0.20828201604318872,
+              0.26432933514956514,
+              1.1631768065670864
+            ],
+            "finger_midpoint": [
+              0.2138652747495761,
+              0.252152319435724,
+              1.1631768065670864
+            ],
+            "object_minus_finger_midpoint": [
+              0.005583258706387373,
+              0.01217701571384111,
+              0.0
+            ],
+            "finger_gap": 0.02679197562536846,
+            "fingertip_max_gap": 0.09075735768382354,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1631768065670864,
+            "object_top_z": 1.213134641805233,
+            "finger_top_clearance": 0.04995783523814645,
+            "fingertip_min_top_clearance": 0.014987350571443936,
+            "object_projection_between_fingers": 0.8262895216823156,
+            "object_to_finger_line_xy": 0.010150416669944151,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
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+                "finger",
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+                "fr3_joint3",
+                "fr3_joint4",
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+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "joint1",
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+                "joint3",
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+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "defaultgroundplane",
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+                "table",
+                "wheel",
+                "workbench"
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+            },
+            "status": "active",
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+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2729979062021922,
+              -0.35860133049066756,
+              0.8515395978019851
+            ],
+            "target_position": [
+              0.2635603474366018,
+              -0.35993899771151794,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00953188696154704,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18686253492128982,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395978019851,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554873880659631,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08541581465629304,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1546665055475028,
+            "release_required_pad_clearance": 0.05270790732814652,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4698048894457065,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007641911506652832,
+            "max_z_decrease": 0.007641911506652832,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511943232270523,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007641911506652832,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02102945442453008,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007641911506652832,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007641929545916148,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11926027387380599,
+              -0.4162004590034485,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11926027387380599,
+              -0.4162004590034485,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11721622337113077,
+              -0.41545117121695896,
+              0.8075807885145829
+            ],
+            "closest_button": [
+              0.11924966424703597,
+              -0.416195273399353,
+              0.7725281715393066
+            ],
+            "closest_ee_minus_button": [
+              -0.002033440875905193,
+              0.0007441021823940686,
+              0.035052616975276285
+            ],
+            "button_min_z_position": [
+              0.11924388259649277,
+              -0.416197806596756,
+              0.7691669464111328
+            ],
+            "min_active_finger_to_button": 0.14765824944948172,
+            "closest_active_finger": [
+              -0.009304173290729523,
+              -0.4801248610019684,
+              0.8112338185310364
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+            "closest_active_finger_button": [
+              0.11926417052745818,
+              -0.41619840264320374,
+              0.776787519454956
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1285683438181877,
+              -0.06392645835876465,
+              0.03444629907608032
+            ],
+            "min_contact_pad_to_button": 0.02102945442453008,
+            "closest_contact_pad": [
+              0.11924388259649277,
+              -0.4163385132273605,
+              0.790195930101209
+            ],
+            "closest_contact_pad_button": [
+              0.11924388259649277,
+              -0.416197806596756,
+              0.7691669464111328
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0001407066306045035,
+              0.02102898369007622
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c43ee18ead656201d3032d3a93f038b8961cec4cd9bf896304ec48e2a66a937d",
+    "visual_seed": 6235000501656470114,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c25efb0c6e0fbcfcdbd6fe0a37b6b54af7f503a2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_44_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.22210492306395513,
+              0.2637564263201029,
+              1.1623809371287122
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+            "current_z": 1.1623809371287122,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.3012743695093013,
+            "gripper_z": 1.1550222320898171,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21669109319467292,
+              0.2586153345275308,
+              1.1550222320898171
+            ],
+            "object_minus_gripper": [
+              0.005413829869282211,
+              0.00514109179257205,
+              0.007358705038895019
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+            "object_to_gripper_xy": 0.0074659479420354875,
+            "object_to_gripper_z": 0.007358705038895019,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22210492306395513,
+              0.23919144267031595,
+              1.1623809371287122
+            ],
+            "finger_b": [
+              0.21103677418272285,
+              0.2637564263201029,
+              1.1623809371287122
+            ],
+            "finger_midpoint": [
+              0.21657084862333897,
+              0.2514739344952094,
+              1.1623809371287122
+            ],
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
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+                "fr3_duo_mobile",
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+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
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+                "joint3",
+                "joint4",
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+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27337587291085097,
+              -0.3608827629665028,
+              0.8515395562445498
+            ],
+            "target_position": [
+              0.2640871006681349,
+              -0.3620578991386306,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009362811265858978,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1865919818577704,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395562445498,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543695473829942,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08513959877321171,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15477153759202608,
+            "release_required_pad_clearance": 0.05256979938660586,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2055841419777782,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075217485427856445,
+            "max_z_decrease": 0.0075217485427856445,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035144754191066996,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075217485427856445,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021265205011294794,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0075217485427856445,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007521772234422231,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11978702992200849,
+              -0.4183193445205688,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11978702992200849,
+              -0.4183193445205688,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1206461013340103,
+              -0.42004380466973973,
+              0.8078607724273197
+            ],
+            "closest_button": [
+              0.11977669596672057,
+              -0.4183150231838226,
+              0.7727693319320679
+            ],
+            "closest_ee_minus_button": [
+              0.0008694053672897301,
+              -0.0017287814859171524,
+              0.03509144049525181
+            ],
+            "button_min_z_position": [
+              0.1197686046361923,
+              -0.4183152318000793,
+              0.769287109375
+            ],
+            "min_active_finger_to_button": 0.14519225369073036,
+            "closest_active_finger": [
+              -0.020569048821926117,
+              -0.4044816195964813,
+              0.8109971284866333
+            ],
+            "closest_active_finger_button": [
+              0.11978754401206969,
+              -0.4183177649974822,
+              0.7765097618103027
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14035659283399582,
+              0.013836145401000866,
+              0.034487366676330566
+            ],
+            "min_contact_pad_to_button": 0.021265205011294794,
+            "closest_contact_pad": [
+              0.1197686046361923,
+              -0.42111686154032346,
+              0.7903669531830309
+            ],
+            "closest_contact_pad_button": [
+              0.1197686046361923,
+              -0.4183152318000793,
+              0.769287109375
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028016297402441714,
+              0.02107984380803085
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "22e57264dcce6fda72fc929cef2bf270b228bc8c70bac058826d94d1595ab1f8",
+    "visual_seed": 6387586416428752533,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c6be15b116b5fc4258ed61055d4313057374ad6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_45_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21939869596813494,
+              0.2585507475227144,
+              1.1609506041621218
+            ],
+            "current_z": 1.1609506041621218,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.29984385772877675,
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+            "force_virtual_attach": false,
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
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+                "festo",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "joint1",
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+                "joint3",
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+                "joint5",
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+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27201497935657926,
+              -0.3520828975861577,
+              0.8515395794819901
+            ],
+            "target_position": [
+              0.2627770725886165,
+              -0.3534668857856538,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009341003414511564,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18802967150463332,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395794819901,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578271267371235,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08549593857117234,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15531092468149865,
+            "release_required_pad_clearance": 0.05274796928558617,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
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+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0073397159576416016,
+            "max_z_decrease": 0.0073397159576416016,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511584175951746,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0073397159576416016,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021104924700188592,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0073397159576416016,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007339738152161735,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11847700178623197,
+              -0.40972834825515747,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11847700178623197,
+              -0.40972834825515747,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11645958355285616,
+              -0.4102098757035621,
+              0.8079787373789358
+            ],
+            "closest_button": [
+              0.11846838146448135,
+              -0.4097239077091217,
+              0.7729237675666809
+            ],
+            "closest_ee_minus_button": [
+              -0.0020087979116251986,
+              -0.00048596799444039496,
+              0.035054969812254866
+            ],
+            "button_min_z_position": [
+              0.11845929175615309,
+              -0.4097248613834381,
+              0.769469141960144
+            ],
+            "min_active_finger_to_button": 0.14812045980839883,
+            "closest_active_finger": [
+              -0.024802282452583313,
+              -0.3948965072631836,
+              0.8109614253044128
+            ],
+            "closest_active_finger_button": [
+              0.11847776174545288,
+              -0.4097280204296112,
+              0.7764574289321899
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1432800441980362,
+              0.014831513166427612,
+              0.0345039963722229
+            ],
+            "min_contact_pad_to_button": 0.021104924700188592,
+            "closest_contact_pad": [
+              0.11845929175615309,
+              -0.411243890959629,
+              0.7905193295067501
+            ],
+            "closest_contact_pad_button": [
+              0.11845929175615309,
+              -0.4097248613834381,
+              0.769469141960144
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015190295761908779,
+              0.021050187546606036
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "991e0d26801f5274fa60cd0c2f9c6f483e9ee29f0e306328d3dd4b9006e840b6",
+    "visual_seed": 4318831778249277942,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d8abd3440efee76ef49b436674cc2aaf50dd1b8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_46_success.json
@@ -0,0 +1,700 @@
+{
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+  "success": true,
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+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "62f67e05fa45c3ab66f69a3ab5696923c95f2e3eb623683fa04b817450824586",
+    "visual_seed": 8171703569325802338,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..82853892f89f1311a4241efac84296f1db0bb3ff
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_47_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+            "active_arm": null,
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+              0.2661822170591561,
+              1.1612899501408758
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+            "gripper_z": 1.1539691973172612,
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+              0.2176331729480628,
+              0.26086463299983,
+              1.1539691973172612
+            ],
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+              0.005296274437492143,
+              0.005317584059326141,
+              0.007320752823614551
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+            "object_to_gripper_z": 0.007320752823614551,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.22292944738555495,
+              0.24197140954690763,
+              1.1612899501408758
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+            "finger_b": [
+              0.21125002869315673,
+              0.2661822170591561,
+              1.1612899501408758
+            ],
+            "finger_midpoint": [
+              0.21708973803935583,
+              0.2540768133030319,
+              1.1612899501408758
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+              0.005839709346199123,
+              0.012105403756124233,
+              0.0
+            ],
+            "finger_gap": 0.02688069979348546,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_projection_between_fingers": 0.8112176821759477,
+            "object_to_finger_line_xy": 0.010519374867061265,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04794661283056202,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27080252518667225,
+              -0.3564352060295022,
+              0.8515396684162292
+            ],
+            "target_position": [
+              0.26152733426699476,
+              -0.3577798649612806,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009372154194168984,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18764500724337735,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396684162292,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553601882024978,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0864917827131929,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
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+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "min_ee_to_button": 0.03512785549475081,
+            "contact_distance_threshold": 0.08,
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+            "max_z_decrease_with_ee_contact": 0.007606923580169678,
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+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
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+            "contact_point_source": "active_contact_pad_positions",
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+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007606923580169678,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007606952411704969,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.4140413105487823,
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+            "closest_ee": [
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+            "closest_active_finger": [
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+              0.11722960323095315,
+              -0.4140384495258331,
+              0.7762342095375061
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12493587285280221,
+              -0.06390509009361273,
+              0.03447932004928589
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+            "min_contact_pad_to_button": 0.02109598366198051,
+            "closest_contact_pad": [
+              0.11720657348632807,
+              -0.41403806209564203,
+              0.7902979179995965
+            ],
+            "closest_contact_pad_button": [
+              0.11720657348632807,
+              -0.41403806209564203,
+              0.769201934337616
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02109598366198051
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "forbidden": [],
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+            "failed_keys": []
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d909196fbeb73db847f46460d1058320c8e07cc0c144875f5cfdd276c281f290",
+    "visual_seed": 7424248332630180725,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..21747ffd8397a6bfee0dbf34e8d114c6e6f4ba68
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_48_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+              0.26623691043856434,
+              1.1636572365610545
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+            "gripper_z": 1.1561832400816308,
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+            "gripper_position": [
+              0.21983020487781416,
+              0.26103779282937073,
+              1.1561832400816308
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+              0.005444774084500448,
+              0.005199117609193615,
+              0.007473996479423706
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+            "object_to_gripper_z": 0.007473996479423706,
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+              0.24186825653316346,
+              1.1636572365610545
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+              0.26623691043856434,
+              1.1636572365610545
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+              0.2540525834858639,
+              1.1636572365610545
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+              0.012184326952700442,
+              0.0
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04792145704337883,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 364,
+            "max_stable_success_frames": 364,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+              ],
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              -0.3522494036089647,
+              0.8515396077563891
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+              -0.3531796494351628,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18583183615361115,
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+            "object_z": 0.8515396077563891,
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+            "min_z_margin": 0.2,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PressSuccessChecker",
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+          "target": "heat_button",
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+          "metrics": {
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+            "contact_point_seen_ok": true,
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+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007486186389749039,
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+              -0.4094407558441162,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.01500752568244934,
+              0.03443413972854614
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+            "min_contact_pad_to_button": 0.021260022009025745,
+            "closest_contact_pad": [
+              0.12122114747762679,
+              -0.4124719837105883,
+              0.7903651549739034
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+              0.12122114747762679,
+              -0.40943828225135803,
+              0.7693226933479309
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "022423d5d456ca8c4bfee0a7cb1e281953f799239a18bb471118846ff2def1e8",
+    "visual_seed": 3945363847774798305,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d7030d2f02284d3604c96f38ee157cce87dc767
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_49_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
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+              0.2608720995960026,
+              1.1627867075227547
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+            "required_z": 0.8611066272240555,
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+            "lift_margin": 0.3016800802986992,
+            "gripper_z": 1.1553897423341315,
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+            "gripper_position": [
+              0.21123105323115282,
+              0.25581722343556834,
+              1.1553897423341315
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+              0.005133158782809066,
+              0.005054876160434263,
+              0.007396965188623206
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+            "object_to_gripper_z": 0.007396965188623206,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23661425482569945,
+              1.1627867075227547
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+            "finger_b": [
+              0.20527475273671264,
+              0.2608720995960026,
+              1.1627867075227547
+            ],
+            "finger_midpoint": [
+              0.21081948237533726,
+              0.24874317721085104,
+              1.1627867075227547
+            ],
+            "object_minus_finger_midpoint": [
+              0.005544729638624624,
+              0.012128922385151564,
+              0.0
+            ],
+            "finger_gap": 0.026672441582312887,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8271397265635044,
+            "object_to_finger_line_xy": 0.010085555193885758,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047762867752032825,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.20503299084295923,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26921116096591274,
+              -0.3576558860351573,
+              0.8515395563469903
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+            "target_position": [
+              0.25996097766824133,
+              -0.35879834788933296,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009320467269872559,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18590778246781747,
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+            "gripper_away_ok": true,
+            "object_z": 0.8515395563469903,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563990717780668,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08512727814695918,
+            "release_gap_margin": 0.02,
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+            "release_min_pad_clearance": 0.15365164977999954,
+            "release_required_pad_clearance": 0.05256363907347959,
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+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 0.19382658405542424,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
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+          "passed": true,
+          "metrics": {
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+            "min_ee_to_button": 0.03509766996628747,
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+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007575333118438721,
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+            "physical_press_ok": true,
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+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
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+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
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+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007575354036792159,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "min_active_finger_to_button": 0.14520655474784935,
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+              -0.4150571227073669,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14024333655834198,
+              0.01495417952537531,
+              0.03454160690307617
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+            "min_contact_pad_to_button": 0.02111264329176676,
+            "closest_contact_pad": [
+              0.11564324051141739,
+              -0.41595810919744625,
+              0.7903269547985287
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+            "closest_contact_pad_button": [
+              0.11564324051141739,
+              -0.41505759954452515,
+              0.7692335247993469
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009005096529210999,
+              0.021093429999181734
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "def88922ac2a21f224273f68f663baf85a8e0e76bcb26ad4e96731d85b43a604",
+    "visual_seed": 6771119461603143764,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f69cfed1c17d39ef89492fa9ce6fe8639c064da
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_4_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.22596382102004595,
+              0.2667687606390728,
+              1.1605745778650478
+            ],
+            "current_z": 1.1605745778650478,
+            "required_z": 0.8611068060379901,
+            "initial_z": 0.7611068060379901,
+            "lift_margin": 0.29946777182705775,
+            "gripper_z": 1.1528133665104598,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22071212560176592,
+              0.26159564630736065,
+              1.1528133665104598
+            ],
+            "object_minus_gripper": [
+              0.005251695418280022,
+              0.005173114331712136,
+              0.00776121135458796
+            ],
+            "object_to_gripper_xy": 0.007371663086125741,
+            "object_to_gripper_z": 0.00776121135458796,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22596382102004595,
+              0.24241235387145887,
+              1.1605745778650478
+            ],
+            "finger_b": [
+              0.21471845781308874,
+              0.2667687606390728,
+              1.1605745778650478
+            ],
+            "finger_midpoint": [
+              0.22034113941656736,
+              0.2545905572552658,
+              1.1605745778650478
+            ],
+            "object_minus_finger_midpoint": [
+              0.005622681603478591,
+              0.012178203383806985,
+              0.0
+            ],
+            "finger_gap": 0.026827089746855805,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.2105169807304357,
+            "finger_top_clearance": 0.04994240286538787,
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+            "object_projection_between_fingers": 0.8242886361430944,
+            "object_to_finger_line_xy": 0.010209703814418046,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04792861286699601,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.35666754448056226,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
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+          }
+        },
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+      },
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+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              0.2700889234002113,
+              -0.3577759800490202,
+              0.8515395651095065
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+            "target_position": [
+              0.2606760899192159,
+              -0.35893372400256834,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009483765349423431,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18662006651751314,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395651095065,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524634831082165,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857630497581524,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15513617101886182,
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+            "release_gap_ok": false,
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+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
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+          "metrics": {
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+            "max_z_decrease_with_ee_contact": 0.007509887218475342,
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+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
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+            "contact_point_distance": 0.02107318110293381,
+            "contact_point_source": "active_contact_pad_positions",
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+            "contact_point_seen_ok": true,
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+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
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+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007509906589605107,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "closest_ee": [
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
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+            "min_contact_pad_to_button": 0.02107318110293381,
+            "closest_contact_pad": [
+              0.116359144449234,
+              -0.4157247958217238,
+              0.7903654321290262
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+            "closest_contact_pad_button": [
+              0.116359144449234,
+              -0.4151926636695862,
+              0.7692989706993103
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005321321521375988,
+              0.02106646142971591
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7df289c49cc0eaf8bf8457b7b351221545cdbd8e4d20613d7ed361070e58f94c",
+    "visual_seed": 1747971892351257330,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b55f2e82f5535c10c68aa93a39793282e042eb8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_50_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2175155849588315,
+              0.2569872575790825,
+              1.1593581721759558
+            ],
+            "current_z": 1.1593581721759558,
+            "required_z": 0.8611069252472795,
+            "initial_z": 0.7611069252472795,
+            "lift_margin": 0.29825124692867633,
+            "gripper_z": 1.15221168020761,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21210655212349494,
+              0.2518598645136912,
+              1.15221168020761
+            ],
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+              0.005409032835336558,
+              0.005127393065391284,
+              0.007146491968345936
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+            "object_to_gripper_xy": 0.00745303937067098,
+            "object_to_gripper_z": 0.007146491968345936,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2175155849588315,
+              0.23241767229213656,
+              1.1593581721759558
+            ],
+            "finger_b": [
+              0.20647698626744873,
+              0.2569872575790825,
+              1.1593581721759558
+            ],
+            "finger_midpoint": [
+              0.2119962856131401,
+              0.24470246493560951,
+              1.1593581721759558
+            ],
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+              0.0055192993456913975,
+              0.012284792643472958,
+              0.0
+            ],
+            "finger_gap": 0.02693538903082535,
+            "fingertip_max_gap": 0.09071270093918227,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.2093608118639056,
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+            "object_projection_between_fingers": 0.8320494676722437,
+            "object_to_finger_line_xy": 0.010069050485438198,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047856350469591136,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2622181028824254,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2776930046154907,
+              -0.35873548225330143,
+              0.8515395737806786
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+            "target_position": [
+              0.2684498948354916,
+              -0.3599236399378467,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009319162896336712,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18709741941281471,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395737806786,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550134590741278,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496533994160217,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15505381687575964,
+            "release_required_pad_clearance": 0.05248266997080109,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.00773996114730835,
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035130735741222135,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00773996114730835,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021126617085098748,
+            "contact_point_source": "active_contact_pad_positions",
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+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00773996114730835,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0077399844998845575,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.4161851108074188,
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+            "button_final": [
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+            "closest_ee": [
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+              -0.4161812961101532,
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+            "min_active_finger_to_button": 0.14757614845389014,
+            "closest_active_finger": [
+              -0.01834486424922943,
+              -0.3991704285144806,
+              0.8109890222549438
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+            "closest_active_finger_button": [
+              0.12415087968111037,
+              -0.4161859452724457,
+              0.7765774726867676
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1424957439303398,
+              0.017015516757965088,
+              0.03441154956817627
+            ],
+            "min_contact_pad_to_button": 0.021126617085098748,
+            "closest_contact_pad": [
+              0.1241311952471733,
+              -0.41804837914358595,
+              0.7901128495932398
+            ],
+            "closest_contact_pad_button": [
+              0.1241311952471733,
+              -0.4161812961101532,
+              0.7690688967704773
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018670830334327482,
+              0.0210439528227625
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d45e28e9a9eacb6313352bb8c9ad2586173515ecc16c74002ad972b0999bd0e3",
+    "visual_seed": 3568490126861861427,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a2371fe24814e4e40d9bf55867e020a016bc89e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_51_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.22035940237237645,
+              0.26039697156189,
+              1.160304963003108
+            ],
+            "current_z": 1.160304963003108,
+            "required_z": 0.8611071040612136,
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+            "lift_margin": 0.2991978589418943,
+            "gripper_z": 1.1527991284545318,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21515080882549195,
+              0.255358342776763,
+              1.1527991284545318
+            ],
+            "object_minus_gripper": [
+              0.0052085935468844935,
+              0.005038628785127008,
+              0.007505834548576118
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+            "object_to_gripper_xy": 0.0072468770357276835,
+            "object_to_gripper_z": 0.007505834548576118,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22035940237237645,
+              0.23596088150062886,
+              1.160304963003108
+            ],
+            "finger_b": [
+              0.209457535898588,
+              0.26039697156189,
+              1.160304963003108
+            ],
+            "finger_midpoint": [
+              0.21490846913548223,
+              0.24817892653125945,
+              1.160304963003108
+            ],
+            "object_minus_finger_midpoint": [
+              0.005450933236894218,
+              0.012218045030630564,
+              0.0
+            ],
+            "finger_gap": 0.0267576753492223,
+            "fingertip_max_gap": 0.09072501223179241,
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+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013378837674611135,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.160304963003108,
+            "object_top_z": 1.2102793401865237,
+            "finger_top_clearance": 0.0499743771834158,
+            "fingertip_min_top_clearance": 0.014992313155024771,
+            "object_projection_between_fingers": 0.834001196893077,
+            "object_to_finger_line_xy": 0.009955984124647835,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04786250611589621,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2591701709145391,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27371437057016657,
+              -0.3575009211607167,
+              0.8515395695803308
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+            "target_position": [
+              0.26471031867305633,
+              -0.35848694576331863,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009057880275361928,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1862173784707156,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395695803308,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751808132569213,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08584007499275752,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1549280597011819,
+            "release_required_pad_clearance": 0.05292003749637876,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8784806523970756,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007508814334869385,
+            "max_z_decrease": 0.007508814334869385,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514030745896041,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007508814334869385,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02106575976321462,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007508814334869385,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00750883151856702,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12041024118661878,
+              -0.4147484004497528,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12041024118661878,
+              -0.4147484004497528,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11878870004394945,
+              -0.4135581104301918,
+              0.8074371022570266
+            ],
+            "closest_button": [
+              0.12039898335933681,
+              -0.4147428870201111,
+              0.7723537087440491
+            ],
+            "closest_ee_minus_button": [
+              -0.0016102833153873591,
+              0.0011847765899192786,
+              0.03508339351297751
+            ],
+            "button_min_z_position": [
+              0.12039449065923687,
+              -0.41474524140357977,
+              0.7693000435829163
+            ],
+            "min_active_finger_to_button": 0.14709618517261233,
+            "closest_active_finger": [
+              -0.00889577716588974,
+              -0.47585001587867737,
+              0.8106443285942078
+            ],
+            "closest_active_finger_button": [
+              0.12041157484054561,
+              -0.4147491157054901,
+              0.7762411832809448
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12930735200643534,
+              -0.061100900173187256,
+              0.03440314531326294
+            ],
+            "min_contact_pad_to_button": 0.02106575976321462,
+            "closest_contact_pad": [
+              0.12039449065923687,
+              -0.4147478961347911,
+              0.7903658031788547
+            ],
+            "closest_contact_pad_button": [
+              0.12039449065923687,
+              -0.41474524140357977,
+              0.7693000435829163
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -2.654731211360062e-06,
+              0.021065759595938482
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "16dfc39186aaa2c7312d177c7dc5e48672354de2306e8c0eb89270092493f62f",
+    "visual_seed": 3525343980604949760,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf190187e2b8a5f952c007e57e414c42277770ac
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_52_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.22340504745018236,
+              0.2579836576520653,
+              1.161326888284415
+            ],
+            "current_z": 1.161326888284415,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.30022032066500426,
+            "gripper_z": 1.1539177171245283,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21814559815622023,
+              0.25281479845671173,
+              1.1539177171245283
+            ],
+            "object_minus_gripper": [
+              0.005259449293962132,
+              0.005168859195353592,
+              0.007409171159886707
+            ],
+            "object_to_gripper_xy": 0.0073742058729838935,
+            "object_to_gripper_z": 0.007409171159886707,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22340504745018236,
+              0.23370930677731325,
+              1.161326888284415
+            ],
+            "finger_b": [
+              0.21205675032008747,
+              0.2579836576520653,
+              1.161326888284415
+            ],
+            "finger_midpoint": [
+              0.21773089888513492,
+              0.2458464822146893,
+              1.161326888284415
+            ],
+            "object_minus_finger_midpoint": [
+              0.005674148565047443,
+              0.012137175437376024,
+              0.0
+            ],
+            "finger_gap": 0.02679604370319426,
+            "fingertip_max_gap": 0.09066842658171179,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013398021851597117,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161326888284415,
+            "object_top_z": 1.2112609524039724,
+            "finger_top_clearance": 0.049934064119557364,
+            "fingertip_min_top_clearance": 0.014980219235867209,
+            "object_projection_between_fingers": 0.8206422935314414,
+            "object_to_finger_line_xy": 0.010280343972346465,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047834213290855895,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3103901526280879,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27399177260056506,
+              -0.35504059082059536,
+              0.8515396080782383
+            ],
+            "target_position": [
+              0.2653142796365105,
+              -0.35619296711843434,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008753676671721295,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18485266466670439,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396080782383,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529769629714624,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08631355340001272,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15336680143985268,
+            "release_required_pad_clearance": 0.05315677670000636,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3382065695431722,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007401585578918457,
+            "max_z_decrease": 0.007401585578918457,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515161737606953,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007401585578918457,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02107582001865338,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007401585578918457,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00740161084505199,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1210142076015472,
+              -0.41245442628860474,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1210142076015472,
+              -0.41245442628860474,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12108248125496227,
+              -0.41062850648889104,
+              0.8079932331177802
+            ],
+            "closest_button": [
+              0.12100372463464733,
+              -0.4124517142772674,
+              0.7728890180587769
+            ],
+            "closest_ee_minus_button": [
+              7.875662031493758e-05,
+              0.0018232077883763576,
+              0.035104215059003296
+            ],
+            "button_min_z_position": [
+              0.12099497765302654,
+              -0.41245236992835993,
+              0.7694072723388672
+            ],
+            "min_active_finger_to_button": 0.1453631393940525,
+            "closest_active_finger": [
+              -0.007089734077453613,
+              -0.47196048498153687,
+              0.8106797337532043
+            ],
+            "closest_active_finger_button": [
+              0.12101405113935468,
+              -0.4124536514282226,
+              0.7763460874557495
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1281037852168083,
+              -0.059506833553314264,
+              0.034333646297454834
+            ],
+            "min_contact_pad_to_button": 0.02107582001865338,
+            "closest_contact_pad": [
+              0.12099497765302654,
+              -0.41245236992835993,
+              0.7904830923575206
+            ],
+            "closest_contact_pad_button": [
+              0.12099497765302654,
+              -0.41245236992835993,
+              0.7694072723388672
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02107582001865338
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2be637df385edc90e901a268ce892d71993365d6ceded1d1176e65098d236f20",
+    "visual_seed": 1618378999418637561,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c34be576bb446e65b6ec790eb031a94add78ed8f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_53_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21941172340851947,
+              0.2620248349309789,
+              1.160964222184794
+            ],
+            "current_z": 1.160964222184794,
+            "required_z": 0.8611068656426345,
+            "initial_z": 0.7611068656426345,
+            "lift_margin": 0.2998573565421595,
+            "gripper_z": 1.1537514031791702,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21407654574994495,
+              0.25681266509622,
+              1.1537514031791702
+            ],
+            "object_minus_gripper": [
+              0.005335177658574525,
+              0.005212169834758862,
+              0.007212819005623761
+            ],
+            "object_to_gripper_xy": 0.007458608116459999,
+            "object_to_gripper_z": 0.007212819005623761,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21941172340851947,
+              0.2376848442518897,
+              1.160964222184794
+            ],
+            "finger_b": [
+              0.2080148788711798,
+              0.2620248349309789,
+              1.160964222184794
+            ],
+            "finger_midpoint": [
+              0.21371330113984965,
+              0.24985483959143429,
+              1.160964222184794
+            ],
+            "object_minus_finger_midpoint": [
+              0.005698422268669817,
+              0.012169995339544604,
+              0.0
+            ],
+            "finger_gap": 0.026876071358486103,
+            "fingertip_max_gap": 0.0907703437219721,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013438035679243059,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.160964222184794,
+            "object_top_z": 1.2109201332063042,
+            "finger_top_clearance": 0.0499559110215102,
+            "fingertip_min_top_clearance": 0.01498677330645306,
+            "object_projection_between_fingers": 0.8201801308466463,
+            "object_to_finger_line_xy": 0.010321415139504278,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04788517186098605,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3058574572729414,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2685110893315218,
+              -0.3581622569886461,
+              0.8515395818707223
+            ],
+            "target_position": [
+              0.2599358679167248,
+              -0.35913991195274203,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008630772360664738,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18580153626454088,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395818707223,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584530715339272,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08530836933157517,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15284894210729347,
+            "release_required_pad_clearance": 0.052654184665787584,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3669079205176236,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007566392421722412,
+            "max_z_decrease": 0.007566392421722412,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513987348607468,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007566392421722412,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021155460165942896,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007566392421722412,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007566415818008463,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11563579738140105,
+              -0.41540136933326727,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11563579738140105,
+              -0.41540136933326727,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1172333910034151,
+              -0.415938611483033,
+              0.8077462248076684
+            ],
+            "closest_button": [
+              0.11562442779541013,
+              -0.4153972268104554,
+              0.7726473808288574
+            ],
+            "closest_ee_minus_button": [
+              0.0016089632080049654,
+              -0.0005413846725776383,
+              0.03509884397881102
+            ],
+            "button_min_z_position": [
+              0.11561710387468335,
+              -0.4153992235660553,
+              0.7692424654960632
+            ],
+            "min_active_finger_to_button": 0.14458647507824568,
+            "closest_active_finger": [
+              -0.02368669956922531,
+              -0.3978513181209564,
+              0.8106735944747925
+            ],
+            "closest_active_finger_button": [
+              0.11563630402088163,
+              -0.415399581193924,
+              0.7762293219566345
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13932300359010694,
+              0.017548263072967585,
+              0.03444427251815796
+            ],
+            "min_contact_pad_to_button": 0.021155460165942896,
+            "closest_contact_pad": [
+              0.11561710387468335,
+              -0.4171570334355868,
+              0.7903247708561365
+            ],
+            "closest_contact_pad_button": [
+              0.11561710387468335,
+              -0.4153992235660553,
+              0.7692424654960632
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017578098695315014,
+              0.021082305360073272
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3e39e0fca2ac5fe20af59b08eb28eb58aa725b2867cdf1d7ff34af6208a3598e",
+    "visual_seed": 718731709507440838,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..54e8021761ca8175970d5aa6e8eb1f42aa093e0b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_54_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.22426266519752452,
+              0.2638243721939931,
+              1.1610736400103119
+            ],
+            "current_z": 1.1610736400103119,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.29996689357696704,
+            "gripper_z": 1.1536422600772689,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21902123913742969,
+              0.2585577390618601,
+              1.1536422600772689
+            ],
+            "object_minus_gripper": [
+              0.005241426060094839,
+              0.005266633132132992,
+              0.007431379933042992
+            ],
+            "object_to_gripper_xy": 0.007430341290406671,
+            "object_to_gripper_z": 0.007431379933042992,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22426266519752452,
+              0.23973953627793532,
+              1.1610736400103119
+            ],
+            "finger_b": [
+              0.21251433689568408,
+              0.2638243721939931,
+              1.1610736400103119
+            ],
+            "finger_midpoint": [
+              0.2183885010466043,
+              0.25178195423596417,
+              1.1610736400103119
+            ],
+            "object_minus_finger_midpoint": [
+              0.005874164150920236,
+              0.012042417958028906,
+              0.0
+            ],
+            "finger_gap": 0.02679743530622382,
+            "fingertip_max_gap": 0.0908649735365083,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01339871765311194,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1610736400103119,
+            "object_top_z": 1.2110445831803371,
+            "finger_top_clearance": 0.04997094317002526,
+            "fingertip_min_top_clearance": 0.014991282951007545,
+            "object_projection_between_fingers": 0.807794555243166,
+            "object_to_finger_line_xy": 0.010559091054959547,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04793248676825415,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.37657831618848153,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 363,
+            "max_stable_success_frames": 363,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2756997955785684,
+              -0.3567420229996702,
+              0.8515396085358865
+            ],
+            "target_position": [
+              0.266701275131953,
+              -0.3581014047682761,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009100620254739393,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18604936965612498,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396085358865,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755097005253803,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08645313284195837,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15406506608385365,
+            "release_required_pad_clearance": 0.053226566420979185,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4745577866642483,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076048970222473145,
+            "max_z_decrease": 0.0076048970222473145,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512868082459753,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076048970222473145,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021072572451557803,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0076048970222473145,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00760491777212305,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12240120023488997,
+              -0.4143628776073456,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12240120023488997,
+              -0.4143628776073456,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12241544838713789,
+              -0.4130220390947788,
+              0.8080656315858032
+            ],
+            "closest_button": [
+              0.12239686399698256,
+              -0.4143601655960083,
+              0.7729624509811401
+            ],
+            "closest_ee_minus_button": [
+              1.8584390155326758e-05,
+              0.0013381265012294974,
+              0.03510318060466311
+            ],
+            "button_min_z_position": [
+              0.12238349765539168,
+              -0.4143613874912262,
+              0.7692039608955383
+            ],
+            "min_active_finger_to_button": 0.1456218041451494,
+            "closest_active_finger": [
+              -0.0056831613183021545,
+              -0.47454798221588135,
+              0.8111209869384766
+            ],
+            "closest_active_finger_button": [
+              0.12240136414766309,
+              -0.4143621623516083,
+              0.7768028974533081
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12808452546596524,
+              -0.06018581986427307,
+              0.03431808948516846
+            ],
+            "min_contact_pad_to_button": 0.021072572451557803,
+            "closest_contact_pad": [
+              0.12238349765539168,
+              -0.4143613874912262,
+              0.7902765333470961
+            ],
+            "closest_contact_pad_button": [
+              0.12238349765539168,
+              -0.4143613874912262,
+              0.7692039608955383
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021072572451557803
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0a2b959035131b3508429e7c502fb3c4fe0561ead7953fc14a77f8b86798c3a2",
+    "visual_seed": 1179247339462493790,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..08fcd1cc743ac7f0a2bca04308805338413dadcd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_55_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.22097281071546132,
+              0.259994244122908,
+              1.160930393762483
+            ],
+            "current_z": 1.160930393762483,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.299823647329138,
+            "gripper_z": 1.1536977154202162,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21554775848721874,
+              0.25477927361312747,
+              1.1536977154202162
+            ],
+            "object_minus_gripper": [
+              0.005425052228242577,
+              0.0052149705097805366,
+              0.007232678342266929
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+            "object_to_gripper_xy": 0.0075250986104529165,
+            "object_to_gripper_z": 0.007232678342266929,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22097281071546132,
+              0.23552833182209285,
+              1.160930393762483
+            ],
+            "finger_b": [
+              0.20965378792911354,
+              0.259994244122908,
+              1.160930393762483
+            ],
+            "finger_midpoint": [
+              0.21531329932228743,
+              0.2477612879725004,
+              1.160930393762483
+            ],
+            "object_minus_finger_midpoint": [
+              0.005659511393173888,
+              0.012232956150407592,
+              0.0
+            ],
+            "finger_gap": 0.026957394932541952,
+            "fingertip_max_gap": 0.0907629864924786,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013478697466270988,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.160930393762483,
+            "object_top_z": 1.210887714082991,
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+            "fingertip_min_top_clearance": 0.014987196096152344,
+            "object_projection_between_fingers": 0.8236960567245587,
+            "object_to_finger_line_xy": 0.010272885028939254,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047881493246239304,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.29540163592456187,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26915338792642585,
+              -0.3589813748566924,
+              0.8515395369655898
+            ],
+            "target_position": [
+              0.2595839349604081,
+              -0.36004722373468623,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009628627311281005,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18703441802207105,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395369655898,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517364713575404,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08569586094585717,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.155801007798291,
+            "release_required_pad_clearance": 0.052847930472928586,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7391305312076866,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007576167583465576,
+            "max_z_decrease": 0.007576167583465576,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035146924316980216,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007576167583465576,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021293361884422202,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007576167583465576,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007576186659427447,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11528386175632475,
+              -0.41630867123603815,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11528386175632475,
+              -0.41630867123603815,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11595422044990839,
+              -0.41814071298968664,
+              0.8076192361318449
+            ],
+            "closest_button": [
+              0.11527318507432935,
+              -0.4163056015968322,
+              0.7725268602371216
+            ],
+            "closest_ee_minus_button": [
+              0.0006810353755790366,
+              -0.001835111392854416,
+              0.03509237589472336
+            ],
+            "button_min_z_position": [
+              0.1152670159935951,
+              -0.41630637645721424,
+              0.7692326903343201
+            ],
+            "min_active_finger_to_button": 0.14532083317500083,
+            "closest_active_finger": [
+              -0.02497338503599167,
+              -0.4002405107021332,
+              0.8107160329818726
+            ],
+            "closest_active_finger_button": [
+              0.11528452485799788,
+              -0.4163071513175963,
+              0.7762526273727417
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14025790989398956,
+              0.016066640615463146,
+              0.03446340560913086
+            ],
+            "min_contact_pad_to_button": 0.021293361884422202,
+            "closest_contact_pad": [
+              0.1152670159935951,
+              -0.4193500196280057,
+              0.7903074025883429
+            ],
+            "closest_contact_pad_button": [
+              0.1152670159935951,
+              -0.41630637645721424,
+              0.7692326903343201
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003043643170791477,
+              0.021074712254022798
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f38af7778bc0fba6c0532093382e65535b28ecaefe690f6330153cd417af4ee6",
+    "visual_seed": 6918345530573645937,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cbca6cc1d69db4ff63e3222a73b4ae447ca2a65
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_56_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.22121187004023934,
+              0.26202070790179866,
+              1.1620910375951685
+            ],
+            "current_z": 1.1620910375951685,
+            "required_z": 0.8611068060379897,
+            "initial_z": 0.7611068060379897,
+            "lift_margin": 0.3009842315571788,
+            "gripper_z": 1.1549331058879024,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21579116449636537,
+              0.2567702777798559,
+              1.1549331058879024
+            ],
+            "object_minus_gripper": [
+              0.0054207055438739715,
+              0.005250430121942762,
+              0.007157931707266085
+            ],
+            "object_to_gripper_xy": 0.007546592943758786,
+            "object_to_gripper_z": 0.007157931707266085,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22121187004023934,
+              0.23759786579087075,
+              1.1620910375951685
+            ],
+            "finger_b": [
+              0.20978751180425156,
+              0.26202070790179866,
+              1.1620910375951685
+            ],
+            "finger_midpoint": [
+              0.21549969092224547,
+              0.2498092868463347,
+              1.1620910375951685
+            ],
+            "object_minus_finger_midpoint": [
+              0.005712179117993876,
+              0.012211421055463967,
+              0.0
+            ],
+            "finger_gap": 0.026962773927760017,
+            "fingertip_max_gap": 0.09076962235523384,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1620910375951685,
+            "object_top_z": 1.2120368000450767,
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+            "object_projection_between_fingers": 0.8204710523656232,
+            "object_to_finger_line_xy": 0.01034816737193881,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04788481117761692,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2650389470037103,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2770192951784125,
+              -0.35361783881230174,
+              0.8515396053974137
+            ],
+            "target_position": [
+              0.2675427573143416,
+              -0.3547321383018358,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009541825466940063,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18520747240309265,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396053974137,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515156706251507,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08637223068586684,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1541103966564908,
+            "release_required_pad_clearance": 0.053186115342933424,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.395470150393825,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007458627223968506,
+            "max_z_decrease": 0.007458627223968506,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511559912740879,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007458627223968506,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021043151431729277,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007458627223968506,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0074586488242799134,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12324268370866773,
+              -0.410993605852127,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12324268370866773,
+              -0.410993605852127,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12221398941369169,
+              -0.41007216699996235,
+              0.8079254377431659
+            ],
+            "closest_button": [
+              0.12323245406150815,
+              -0.4109904766082763,
+              0.7728366255760193
+            ],
+            "closest_ee_minus_button": [
+              -0.0010184646478164638,
+              0.0009183096083139608,
+              0.035088812167146655
+            ],
+            "button_min_z_position": [
+              0.12322492152452466,
+              -0.4109910130500793,
+              0.7693502306938171
+            ],
+            "min_active_finger_to_button": 0.14669952305994502,
+            "closest_active_finger": [
+              -0.005231238901615143,
+              -0.4729108512401581,
+              0.81065833568573
+            ],
+            "closest_active_finger_button": [
+              0.12324263155460356,
+              -0.4109930098056793,
+              0.7762869000434875
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12847387045621872,
+              -0.06191784143447876,
+              0.03437143564224243
+            ],
+            "min_contact_pad_to_button": 0.021043151431729277,
+            "closest_contact_pad": [
+              0.12322492152452466,
+              -0.41113814128731974,
+              0.7903928677780919
+            ],
+            "closest_contact_pad_button": [
+              0.12322492152452466,
+              -0.4109910130500793,
+              0.7693502306938171
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00014712823724044588,
+              0.021042637084274785
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c8d0ea7da354f5ec0fbac2c19c348502ba2275c0346a871e74011be9cd66d33c",
+    "visual_seed": 2785528653844564054,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7284defca874d19506ef11e89fcfaefa43ab237d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_57_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.22478039780079334,
+              0.26714037242642025,
+              1.161334859225275
+            ],
+            "current_z": 1.161334859225275,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.3002280531872852,
+            "gripper_z": 1.1537592607680331,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2193901217409344,
+              0.2619908958305851,
+              1.1537592607680331
+            ],
+            "object_minus_gripper": [
+              0.0053902760598589505,
+              0.005149476595835145,
+              0.007575598457241872
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+            "object_to_gripper_xy": 0.007454675392835187,
+            "object_to_gripper_z": 0.007575598457241872,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22478039780079334,
+              0.24266666258382613,
+              1.161334859225275
+            ],
+            "finger_b": [
+              0.21360161186601134,
+              0.26714037242642025,
+              1.161334859225275
+            ],
+            "finger_midpoint": [
+              0.21919100483340234,
+              0.2549035175051232,
+              1.161334859225275
+            ],
+            "object_minus_finger_midpoint": [
+              0.005589392967390999,
+              0.012236854921297058,
+              0.0
+            ],
+            "finger_gap": 0.02690590508485392,
+            "fingertip_max_gap": 0.0907292126758793,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01345295254242696,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161334859225275,
+            "object_top_z": 1.2112855303020402,
+            "finger_top_clearance": 0.04995067107676521,
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+            "object_projection_between_fingers": 0.8273788251683589,
+            "object_to_finger_line_xy": 0.010168264642929113,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04786460633793965,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3233239658994109,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2742486592479215,
+              -0.3591310479481772,
+              0.8515395913766841
+            ],
+            "target_position": [
+              0.26567842680384113,
+              -0.36015815444800586,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008631560224406623,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1844691902053775,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395913766841,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559320912187172,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496541597798914,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15218120292329995,
+            "release_required_pad_clearance": 0.05248270798899457,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03956463501383941,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075376033782958984,
+            "max_z_decrease": 0.0075376033782958984,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511939116629135,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075376033782958984,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02121090504807712,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0075376033782958984,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007537622910832078,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1213783547282219,
+              -0.4164196252822876,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1213783547282219,
+              -0.4164196252822876,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12184745249582726,
+              -0.41785210652800653,
+              0.8077608615069797
+            ],
+            "closest_button": [
+              0.12136881053447722,
+              -0.41641518473625183,
+              0.7726741433143616
+            ],
+            "closest_ee_minus_button": [
+              0.0004786419613500431,
+              -0.0014369217917546973,
+              0.035086718192618105
+            ],
+            "button_min_z_position": [
+              0.12136168777942656,
+              -0.4164155423641205,
+              0.7692712545394897
+            ],
+            "min_active_finger_to_button": 0.14561236699170366,
+            "closest_active_finger": [
+              -0.019501179456710815,
+              -0.40358999371528625,
+              0.8109906315803528
+            ],
+            "closest_active_finger_button": [
+              0.12137922644615172,
+              -0.416418194770813,
+              0.7764781713485718
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14088040590286255,
+              0.012828201055526733,
+              0.034512460231781006
+            ],
+            "min_contact_pad_to_button": 0.02121090504807712,
+            "closest_contact_pad": [
+              0.12136168777942656,
+              -0.41881205421949547,
+              0.7903463399221303
+            ],
+            "closest_contact_pad_button": [
+              0.12136168777942656,
+              -0.4164155423641205,
+              0.7692712545394897
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002396511855374983,
+              0.02107508538264058
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d143f51faa87c5f5900215c2757faaebc59c46940d67e4e840d6d014d5a67fd8",
+    "visual_seed": 827055471689107904,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..216ee67444e8a2457bd5092ac194a994bb5c8e17
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_58_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2192153787768405,
+              0.26112483546027976,
+              1.1600809422493388
+            ],
+            "current_z": 1.1600809422493388,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.29897431502528315,
+            "gripper_z": 1.1525977105901168,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21402927239482356,
+              0.2560616396296301,
+              1.1525977105901168
+            ],
+            "object_minus_gripper": [
+              0.005186106382016942,
+              0.0050631958306496805,
+              0.007483231659221934
+            ],
+            "object_to_gripper_xy": 0.0072478721998325245,
+            "object_to_gripper_z": 0.007483231659221934,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2192153787768405,
+              0.2367450922772507,
+              1.1600809422493388
+            ],
+            "finger_b": [
+              0.2082238990010278,
+              0.26112483546027976,
+              1.1600809422493388
+            ],
+            "finger_midpoint": [
+              0.21371963888893414,
+              0.24893496386876524,
+              1.1600809422493388
+            ],
+            "object_minus_finger_midpoint": [
+              0.005495739887906359,
+              0.012189871591514523,
+              0.0
+            ],
+            "finger_gap": 0.02674293374580565,
+            "fingertip_max_gap": 0.09079920403148917,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01337146687290283,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1600809422493388,
+            "object_top_z": 1.2100395984084853,
+            "finger_top_clearance": 0.04995865615914652,
+            "fingertip_min_top_clearance": 0.014987596847743955,
+            "object_projection_between_fingers": 0.8310748810114066,
+            "object_to_finger_line_xy": 0.010020196612789313,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047899602015744586,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3175707468005672,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26798548392332966,
+              -0.35975451505003886,
+              0.8515395680001023
+            ],
+            "target_position": [
+              0.2596162123519842,
+              -0.36065573249906435,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008417654039300955,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18356304261718132,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395680001023,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581295296839867,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0856880208012099,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15075758724498803,
+            "release_required_pad_clearance": 0.05284401040060495,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7316804796092176,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007676124572753906,
+            "max_z_decrease": 0.007676124572753906,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510197196066551,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007676124572753906,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021205391589796313,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007676124572753906,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007676142420479105,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11531613767147061,
+              -0.41691720485687256,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11531613767147061,
+              -0.41691720485687256,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11451873450581546,
+              -0.4183064365866577,
+              0.8076262136232463
+            ],
+            "closest_button": [
+              0.11530543863773343,
+              -0.41691195964813227,
+              0.7725607752799988
+            ],
+            "closest_ee_minus_button": [
+              -0.0007867041319179757,
+              -0.0013944769385254574,
+              0.03506543834324749
+            ],
+            "button_min_z_position": [
+              0.11530004441738126,
+              -0.4169133305549621,
+              0.7691327333450317
+            ],
+            "min_active_finger_to_button": 0.14684089538484651,
+            "closest_active_finger": [
+              -0.026661068201065063,
+              -0.4023091197013855,
+              0.8106557130813599
+            ],
+            "closest_active_finger_button": [
+              0.11531513184309003,
+              -0.4169171750545501,
+              0.7761359810829163
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1419762000441551,
+              0.014608055353164617,
+              0.034519731998443604
+            ],
+            "min_contact_pad_to_button": 0.021205391589796313,
+            "closest_contact_pad": [
+              0.11530004441738126,
+              -0.41940763396956277,
+              0.7901909166226204
+            ],
+            "closest_contact_pad_button": [
+              0.11530004441738126,
+              -0.4169133305549621,
+              0.7691327333450317
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024943034146006626,
+              0.021058183277588682
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2e5a3c7e0bf93db39406972f336c8db36e91e4c8ab52047b73b2d488f27c2a56",
+    "visual_seed": 8954693397869913978,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..712d6b2d177efcd8fa5a3e2c7b62de560009d1bc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_59_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21900560907817795,
+              0.260370834136786,
+              1.1598587280587176
+            ],
+            "current_z": 1.1598587280587176,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.2987520412300172,
+            "gripper_z": 1.1525383393591238,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21370098587764988,
+              0.25524695850313156,
+              1.1525383393591238
+            ],
+            "object_minus_gripper": [
+              0.005304623200528075,
+              0.005123875633654462,
+              0.007320388699593838
+            ],
+            "object_to_gripper_xy": 0.007375169747791479,
+            "object_to_gripper_z": 0.007320388699593838,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21900560907817795,
+              0.2359803754510279,
+              1.1598587280587176
+            ],
+            "finger_b": [
+              0.20783144598181771,
+              0.260370834136786,
+              1.1598587280587176
+            ],
+            "finger_midpoint": [
+              0.21341852752999785,
+              0.24817560479390696,
+              1.1598587280587176
+            ],
+            "object_minus_finger_midpoint": [
+              0.005587081548180106,
+              0.01219522934287906,
+              0.0
+            ],
+            "finger_gap": 0.02682827604982722,
+            "fingertip_max_gap": 0.09061483505873491,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013414138024913603,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1598587280587176,
+            "object_top_z": 1.2098046279418513,
+            "finger_top_clearance": 0.04994589988313369,
+            "fingertip_min_top_clearance": 0.014983769964940108,
+            "object_projection_between_fingers": 0.8265219710006437,
+            "object_to_finger_line_xy": 0.010158795251827323,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04780741752936746,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.23067828322927575,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 355,
+            "max_stable_success_frames": 355,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2749360528381795,
+              -0.3590294836675543,
+              0.8515395688262655
+            ],
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+              0.2662737988098848,
+              -0.3600833953600248,
+              0.8084375599031817
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+            "xy_dist": 0.008726131714925828,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18419644860494155,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395688262655,
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+            "min_z_margin": 0.2,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08543443450489928,
+            "release_gap_margin": 0.02,
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+            "release_min_pad_clearance": 0.15159636476316804,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.4877865259893661,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00782686471939087,
+            "max_z_decrease": 0.00782686471939087,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035084947631738125,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00782686471939087,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021111309646772877,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00782686471939087,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007826891913483361,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12197372317314147,
+              -0.4163448512554168,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12197372317314147,
+              -0.4163448512554168,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12128197059538615,
+              -0.41664203866175265,
+              0.8074910014705488
+            ],
+            "closest_button": [
+              0.12196327000856397,
+              -0.41634008288383473,
+              0.772413969039917
+            ],
+            "closest_ee_minus_button": [
+              -0.0006812994131778216,
+              -0.00030195577791791717,
+              0.03507703243063176
+            ],
+            "button_min_z_position": [
+              0.12195351719856261,
+              -0.41634067893028254,
+              0.7689819931983948
+            ],
+            "min_active_finger_to_button": 0.1468432100269064,
+            "closest_active_finger": [
+              -0.020034074783325195,
+              -0.4019891321659088,
+              0.8110766410827637
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+            "closest_active_finger_button": [
+              0.12197473645210263,
+              -0.41634351015090937,
+              0.7765747904777527
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14200881123542783,
+              0.014354377985000555,
+              0.034501850605010986
+            ],
+            "min_contact_pad_to_button": 0.021111309646772877,
+            "closest_contact_pad": [
+              0.12195351719856261,
+              -0.4176295758996187,
+              0.7900539209603334
+            ],
+            "closest_contact_pad_button": [
+              0.12195351719856261,
+              -0.41634067893028254,
+              0.7689819931983948
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012888969693361507,
+              0.02107192776193867
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d39ba4f3b7218ac855f8bc1b6320537fde8aa49a4b31874e8fe6ce606350e342",
+    "visual_seed": 2728918331227868159,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e02d9f43648579354be2d1262057cfb8e0bb8b2f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_5_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.22264497652397156,
+              0.2630806670060177,
+              1.1615415487972016
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+            "required_z": 0.8611068060379898,
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+            "lift_margin": 0.3004347427592118,
+            "gripper_z": 1.1540523083654495,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.217394147553507,
+              0.25793328563650614,
+              1.1540523083654495
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+              0.005250828970464555,
+              0.005147381369511539,
+              0.007489240431752142
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+            "object_to_gripper_z": 0.007489240431752142,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22264497652397156,
+              0.23874322539463602,
+              1.1615415487972016
+            ],
+            "finger_b": [
+              0.21141492025092373,
+              0.2630806670060177,
+              1.1615415487972016
+            ],
+            "finger_midpoint": [
+              0.21702994838744766,
+              0.25091194620032686,
+              1.1615415487972016
+            ],
+            "object_minus_finger_midpoint": [
+              0.005615028136523897,
+              0.012168720805690814,
+              0.0
+            ],
+            "finger_gap": 0.02680345552504811,
+            "fingertip_max_gap": 0.09068448108549834,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013401727762524037,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1615415487972016,
+            "object_top_z": 1.211474848778058,
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+            "object_projection_between_fingers": 0.8244574954135518,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04784224054274917,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.24474091677572174,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
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+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
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+              ],
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+                "base_link",
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+                "defaultgroundplane",
+                "desk",
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+                "workbench"
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26981396668049096,
+              -0.3590576632112936,
+              0.8515395887182957
+            ],
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+              0.26062128936373746,
+              -0.36030307233063874,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009276656732061515,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18538805121515145,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395887182957,
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+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_fingertip_min_gap": 0.08530625231418705,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15298071467184213,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3647684808666548,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007558941841125488,
+            "max_z_decrease": 0.007558941841125488,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513669960517585,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007558941841125488,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021229443258246265,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007558941841125488,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00755895943280424,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11632121354341507,
+              -0.4165645241737365,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11632121354341507,
+              -0.4165645241737365,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11452438540168922,
+              -0.4181930049499952,
+              0.8077271976109464
+            ],
+            "closest_button": [
+              0.1163109689950943,
+              -0.416560024023056,
+              0.7726739645004272
+            ],
+            "closest_ee_minus_button": [
+              -0.0017865835934050833,
+              -0.0016329809269391982,
+              0.03505323311051911
+            ],
+            "button_min_z_position": [
+              0.11630534380674361,
+              -0.41656076908111567,
+              0.7692499160766602
+            ],
+            "min_active_finger_to_button": 0.14776707430652772,
+            "closest_active_finger": [
+              -0.026599645614624023,
+              -0.40177032351493835,
+              0.8107569217681885
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+            "closest_active_finger_button": [
+              0.11632188409566879,
+              -0.41656333208084095,
+              0.7762647271156311
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14292152971029282,
+              0.014793008565902599,
+              0.03449219465255737
+            ],
+            "min_contact_pad_to_button": 0.021229443258246265,
+            "closest_contact_pad": [
+              0.11630534380674361,
+              -0.4193369976920366,
+              0.7902970492722999
+            ],
+            "closest_contact_pad_button": [
+              0.11630534380674361,
+              -0.41656076908111567,
+              0.7692499160766602
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027762286109209167,
+              0.021047133195639778
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "68d26daf9dc1cb94881c620e807c4193613085b4d7e3490136932ecc257419db",
+    "visual_seed": 270064650293069989,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..073e6c22b68e3494eba3dd2445ffc7b2d30ff230
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_60_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.26135879026658715,
+              1.1622976444044735
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+            "required_z": 0.8611068656426344,
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+            "lift_margin": 0.3011907787618391,
+            "gripper_z": 1.1550836841205863,
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+            "gripper_position": [
+              0.2115047213312767,
+              0.2562353639420443,
+              1.1550836841205863
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+              0.005280632707384575,
+              0.0051234263245428235,
+              0.007213960283887211
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+            "object_to_gripper_z": 0.007213960283887211,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.21678535403866128,
+              0.2369742788942037,
+              1.1622976444044735
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+              0.20562343290042465,
+              0.26135879026658715,
+              1.1622976444044735
+            ],
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+              0.21120439346954295,
+              0.24916653458039542,
+              1.1622976444044735
+            ],
+            "object_minus_finger_midpoint": [
+              0.005580960569118332,
+              0.012192255686191728,
+              0.0
+            ],
+            "finger_gap": 0.02681777168905187,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01340888584452594,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1622976444044735,
+            "object_top_z": 1.2122385163820313,
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+            "fingertip_min_top_clearance": 0.014982261593267342,
+            "object_projection_between_fingers": 0.8267662441551724,
+            "object_to_finger_line_xy": 0.010149165116656315,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04783144496742704,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.21279032617999824,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 359,
+            "max_stable_success_frames": 359,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
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+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2744318348080548,
+              -0.3567955926301632,
+              0.8515395694207123
+            ],
+            "target_position": [
+              0.26582868075177457,
+              -0.35770495018345544,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008651080329983083,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18696456236012166,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395694207123,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515863898455157,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1553906300881768,
+            "release_required_pad_clearance": 0.05257931949227579,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.22381167429526658,
+            "object_max_tilt_deg": 12.0,
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076865553855896,
+            "max_z_decrease": 0.0076865553855896,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035147918601271054,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076865553855896,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02121866492613885,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0076865553855896,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076865748027658285,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12152860313653946,
+              -0.41396641731262207,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12152860313653946,
+              -0.41396641731262207,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.119810433823934,
+              -0.4154904400143927,
+              0.8066132577165337
+            ],
+            "closest_button": [
+              0.12151562422513962,
+              -0.4139599204063415,
+              0.771540105342865
+            ],
+            "closest_ee_minus_button": [
+              -0.0017051904012056196,
+              -0.0015305196080512284,
+              0.0350731523736687
+            ],
+            "button_min_z_position": [
+              0.12151177972555162,
+              -0.41396248340606684,
+              0.769122302532196
+            ],
+            "min_active_finger_to_button": 0.14753651318479555,
+            "closest_active_finger": [
+              -0.02113059163093567,
+              -0.39892804622650146,
+              0.8111423254013062
+            ],
+            "closest_active_finger_button": [
+              0.12153169512748718,
+              -0.41396749019622797,
+              0.7766704559326172
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14266228675842285,
+              0.015039443969726507,
+              0.034471869468688965
+            ],
+            "min_contact_pad_to_button": 0.02121866492613885,
+            "closest_contact_pad": [
+              0.12151177972555162,
+              -0.41668747299920617,
+              0.7901652627081085
+            ],
+            "closest_contact_pad_button": [
+              0.12151177972555162,
+              -0.41396248340606684,
+              0.769122302532196
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027249895931393264,
+              0.02104296017591245
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8491cc59c01078ebe919c8afc6abf8be7bad6f7f8278c9e0fd231c1372c8b28b",
+    "visual_seed": 1394705194977231241,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2936704a62519801491dda9afbaea76560a539c5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_61_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+      "reason": "executed",
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+        "checker": {
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+          "metrics": {
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+              0.2243729110487605,
+              0.2605231196710851,
+              1.1600313650753997
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+            "gripper_z": 1.152713401445229,
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+            "gripper_position": [
+              0.21903593226146667,
+              0.25524070600840953,
+              1.152713401445229
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+              0.0053369787872938335,
+              0.005282413662675567,
+              0.007317963630170787
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+            "object_to_gripper_z": 0.007317963630170787,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2243729110487605,
+              0.23621929932166058,
+              1.1600313650753997
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+            "finger_b": [
+              0.21282525804964217,
+              0.2605231196710851,
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+            "finger_midpoint": [
+              0.21859908454920135,
+              0.24837120949637284,
+              1.1600313650753997
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+            "object_minus_finger_midpoint": [
+              0.005773826499559154,
+              0.01215191017471226,
+              0.0
+            ],
+            "finger_gap": 0.026907693572009252,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_top_z": 1.20998618865379,
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+            "object_projection_between_fingers": 0.8158233778250945,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04793107109600962,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+                "beaker_a"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2775484981026134,
+              -0.3573001269532734,
+              0.8515395691376604
+            ],
+            "target_position": [
+              0.2682482043407362,
+              -0.3587997585846309,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009420422447373565,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18598630705055874,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395691376604,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577921697648729,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1533352354922625,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007833003997802734,
+            "max_z_decrease": 0.007833003997802734,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035115845990965795,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007833003997802734,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02108784041522534,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007833003997802734,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00783303372566056,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1239481270313263,
+              -0.41506120562553406,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1239481270313263,
+              -0.41506120562553406,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12500622499112696,
+              -0.41448203480027873,
+              0.8075765877719325
+            ],
+            "closest_button": [
+              0.12393708527088165,
+              -0.4150575399398804,
+              0.7724817395210266
+            ],
+            "closest_ee_minus_button": [
+              0.0010691397202453046,
+              0.0005755051396016952,
+              0.03509484825090592
+            ],
+            "button_min_z_position": [
+              0.12392681092023848,
+              -0.4150578379631043,
+              0.7689758539199829
+            ],
+            "min_active_finger_to_button": 0.145016659549868,
+            "closest_active_finger": [
+              -0.001999378204345703,
+              -0.47818851470947266,
+              0.8109521865844727
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+            "closest_active_finger_button": [
+              0.12394842505455017,
+              -0.4150594770908356,
+              0.7765762209892273
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12594780325889587,
+              -0.06312903761863703,
+              0.03437596559524536
+            ],
+            "min_contact_pad_to_button": 0.02108784041522534,
+            "closest_contact_pad": [
+              0.12392681092023848,
+              -0.41550534694996366,
+              0.790058945464742
+            ],
+            "closest_contact_pad_button": [
+              0.12392681092023848,
+              -0.4150578379631043,
+              0.7689758539199829
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00044750898685935736,
+              0.02108309154475907
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9a628716c4bc9931128fb74c5737ce62f28d761108b8e112a454121541a160bc",
+    "visual_seed": 5914013163223189680,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d95ecd238f2bbb837b6238b74727118124bf3f4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_62_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+              0.26346152304810677,
+              1.1631705622657715
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+            "lift_margin": 0.30206387543707136,
+            "gripper_z": 1.1555681013063686,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.21669782446134653,
+              0.25833927966989334,
+              1.1555681013063686
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+              0.005122243378213431,
+              0.007602460959402979
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+            "object_to_gripper_z": 0.007602460959402979,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22194943491234698,
+              0.23929628696964697,
+              1.1631705622657715
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+            "finger_b": [
+              0.21050712015518727,
+              0.26346152304810677,
+              1.1631705622657715
+            ],
+            "finger_midpoint": [
+              0.2162282775337671,
+              0.2513789050088769,
+              1.1631705622657715
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+            "object_minus_finger_midpoint": [
+              0.005721157378579866,
+              0.012082618039229887,
+              0.0
+            ],
+            "finger_gap": 0.026737337222124607,
+            "fingertip_max_gap": 0.09070797967862426,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+                "Robotiq2F85",
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+                "fr3_joint5",
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+                "fr3_joint7",
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+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
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+                "desk",
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+                "groundplane",
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+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2723612253954345,
+              -0.35668090167897504,
+              0.8515395596017954
+            ],
+            "target_position": [
+              0.2637092915188374,
+              -0.35776614044782307,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008719730671896913,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18562769454744538,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395596017954,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556499642314149,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08516231350058649,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15339010296986477,
+            "release_required_pad_clearance": 0.05258115675029325,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.22728182927814408,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007614195346832275,
+            "max_z_decrease": 0.007614195346832275,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035086786620163055,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007614195346832275,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02108999430604659,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007614195346832275,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007614215470357576,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11940921843051908,
+              -0.41402760148048406,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11940921843051908,
+              -0.41402760148048406,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11875174819731127,
+              -0.4137669546220887,
+              0.8076264923379628
+            ],
+            "closest_button": [
+              0.11939781904220581,
+              -0.4140230715274811,
+              0.7725465893745422
+            ],
+            "closest_ee_minus_button": [
+              -0.0006460708448945418,
+              0.0002561169053924006,
+              0.03507990296342056
+            ],
+            "button_min_z_position": [
+              0.11939188838005066,
+              -0.41402512788772583,
+              0.7691946625709534
+            ],
+            "min_active_finger_to_button": 0.1466557946349165,
+            "closest_active_finger": [
+              -0.008305728435516357,
+              -0.47736403346061707,
+              0.811220109462738
+            ],
+            "closest_active_finger_button": [
+              0.11941020935773848,
+              -0.414026141166687,
+              0.7767981290817261
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12771593779325485,
+              -0.06333789229393005,
+              0.03442198038101196
+            ],
+            "min_contact_pad_to_button": 0.02108999430604659,
+            "closest_contact_pad": [
+              0.11939188838005066,
+              -0.4147881345475117,
+              0.7902708500977856
+            ],
+            "closest_contact_pad_button": [
+              0.11939188838005066,
+              -0.41402512788772583,
+              0.7691946625709534
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007630066597858476,
+              0.02107618752683227
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "19b01195f939cce2470296ca28a6c2490a6fdaaf88f17bb4ca69d138e54abe1f",
+    "visual_seed": 2822786077049767196,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e448e192c3454da1e41c52dba44090f3007e4546
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_63_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.218539183374641,
+              0.25883254381486825,
+              1.160034869009265
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+            "current_z": 1.160034869009265,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.2989282417852096,
+            "gripper_z": 1.1526934273827738,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2132692178444548,
+              0.25372654522309446,
+              1.1526934273827738
+            ],
+            "object_minus_gripper": [
+              0.005269965530186216,
+              0.005105998591773797,
+              0.007341441626491196
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+            "object_to_gripper_xy": 0.007337830626864243,
+            "object_to_gripper_z": 0.007341441626491196,
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
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+                "joint6",
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+                "table",
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+            },
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+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27322927808518166,
+              -0.35716132775572185,
+              0.8515395690628806
+            ],
+            "target_position": [
+              0.26405263645632876,
+              -0.35819465903060876,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009234637248319796,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18752607107608482,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395690628806,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541420813072151,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496557748487245,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15558271098403026,
+            "release_required_pad_clearance": 0.052482788742436226,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03956434006670266,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007498681545257568,
+            "max_z_decrease": 0.007498681545257568,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513938166265809,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007498681545257568,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02108066379456608,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007498681545257568,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0074987018839204785,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11975256353616712,
+              -0.4144561290740966,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11975256353616712,
+              -0.4144561290740966,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11996471625416924,
+              -0.41277120718704385,
+              0.8079332366567652
+            ],
+            "closest_button": [
+              0.11974287778139112,
+              -0.4144520163536071,
+              0.7728347778320312
+            ],
+            "closest_ee_minus_button": [
+              0.00022183847277812418,
+              0.0016808091665632685,
+              0.03509845882473395
+            ],
+            "button_min_z_position": [
+              0.1197351813316345,
+              -0.4144544303417205,
+              0.7693101763725281
+            ],
+            "min_active_finger_to_button": 0.14530321173533964,
+            "closest_active_finger": [
+              -0.007940471172332764,
+              -0.474673330783844,
+              0.8106590509414673
+            ],
+            "closest_active_finger_button": [
+              0.11975295841693875,
+              -0.41445484757423395,
+              0.7762912511825562
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12769342958927152,
+              -0.06021848320961004,
+              0.03436779975891113
+            ],
+            "min_contact_pad_to_button": 0.02108066379456608,
+            "closest_contact_pad": [
+              0.1197351813316345,
+              -0.4144544303417205,
+              0.7903908401670942
+            ],
+            "closest_contact_pad_button": [
+              0.1197351813316345,
+              -0.4144544303417205,
+              0.7693101763725281
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108066379456608
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "044210679588850d176e6c3ead456280121a69afc3d2de1abf99e52ed27bca30",
+    "visual_seed": 7557723741523053515,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a90384ff96376548740cb29c901127cc60a0e35
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_64_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+            "required_stable_lift_frames": 5
+          },
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+              "allowed_objects": [
+                "beaker_a"
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+                "/World/beaker_2"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
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+                "festo",
+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.269521670685115,
+              -0.3609777382841895,
+              0.8515395038172547
+            ],
+            "target_position": [
+              0.2602140993707672,
+              -0.36206516371824615,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009370879246170182,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18526425262425544,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395038172547,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529649871020612,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08667966204706291,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.153701321932842,
+            "release_required_pad_clearance": 0.05333983102353146,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6966900369194429,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007642388343811035,
+            "max_z_decrease": 0.007642388343811035,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035087468891857765,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007642388343811035,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02108399632834583,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007642388343811035,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007642413678651412,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11591402441263199,
+              -0.41832661628723145,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11591402441263199,
+              -0.41832661628723145,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11525258154854381,
+              -0.4178994890386981,
+              0.8076718165701122
+            ],
+            "closest_button": [
+              0.11590581387281418,
+              -0.41832104325294495,
+              0.7725929617881775
+            ],
+            "closest_ee_minus_button": [
+              -0.0006532323242703642,
+              0.00042155421424683315,
+              0.03507885478193473
+            ],
+            "button_min_z_position": [
+              0.11589478701353073,
+              -0.41832247376441956,
+              0.7691664695739746
+            ],
+            "min_active_finger_to_button": 0.1466147157847796,
+            "closest_active_finger": [
+              -0.012124627828598022,
+              -0.4808960258960724,
+              0.8105457425117493
+            ],
+            "closest_active_finger_button": [
+              0.11591479927301407,
+              -0.4183251261711121,
+              0.7760977745056152
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1280394271016121,
+              -0.06257089972496027,
+              0.03444796800613403
+            ],
+            "min_contact_pad_to_button": 0.02108399632834583,
+            "closest_contact_pad": [
+              0.11589478701353073,
+              -0.4190076446113398,
+              0.7902393298944017
+            ],
+            "closest_contact_pad_button": [
+              0.11589478701353073,
+              -0.41832247376441956,
+              0.7691664695739746
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006851708469202689,
+              0.0210728603204271
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "93a1e6f66c9b0f3629b053cb84872f5a7c3ee54e84797780bab078125061a762",
+    "visual_seed": 1795099791117996619,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..311c4977d3a8151ecb80e8f3afbac39088060533
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_65_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
+      "debug": {
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+              0.00523089001595578,
+              0.007323651538783338
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+            "object_to_gripper_z": 0.007323651538783338,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2410976576661436,
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+              1.1612816662462713
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+              0.2531342760693373,
+              1.1612816662462713
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+              0.0120366184031937,
+              0.0
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_projection_between_fingers": 0.8088552646970758,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
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+            "stable_success_frames": 361,
+            "max_stable_success_frames": 361,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              -0.3587615496162487,
+              0.8515395958544468
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+              -0.36000682596051786,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008548906470732313,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18574336740821198,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "press",
+          "target": "heat_button",
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+          "metrics": {
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+            "contacted_z_stable_frames": 0,
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+            "contact_point_distance": 0.021293087546725306,
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+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0075841546058654785,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007584173959049745,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "min_active_finger_to_button": 0.1459765197972919,
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+              -0.4162678718566894,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.016406953334808294,
+              0.03445303440093994
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+            "min_contact_pad_to_button": 0.021293087546725306,
+            "closest_contact_pad": [
+              0.1151791214942932,
+              -0.41939377399125866,
+              0.7902868332433151
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+            "closest_contact_pad_button": [
+              0.1151791214942932,
+              -0.41626611351966847,
+              0.7692247033119202
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003127660471590188,
+              0.02106212993139489
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+            "failed_keys": []
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+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heat_button",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
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+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d8816b2677b972acd3314e6d73ead81c9cc7672d9f65bd82b8bada8783a3e08a",
+    "visual_seed": 4112733886664784962,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c446164f637f99aada8509ef414fd10b65985a5b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_66_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+              0.26576865190538523,
+              1.1597397504882148
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+            "lift_margin": 0.29863294445022515,
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+              0.21757703781020293,
+              0.2605392320724633,
+              1.1522926150182253
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+              0.0052642577058088225,
+              0.005229419832921911,
+              0.00744713546998943
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+            "object_to_gripper_z": 0.00744713546998943,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2416720925105297,
+              1.1597397504882148
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+              0.26576865190538523,
+              1.1597397504882148
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+              0.21699196933092826,
+              0.25372037220795746,
+              1.1597397504882148
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+              0.005849326185083492,
+              0.012048279697427777,
+              0.0
+            ],
+            "finger_gap": 0.02678623978739483,
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+            "finger_z_skew": 0.0,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_projection_between_fingers": 0.8092571939435901,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04785697507846741,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3506042023177841,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 360,
+            "max_stable_success_frames": 360,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
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+          }
+        },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
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+              -0.3558815798201639,
+              0.8515395076653557
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+              -0.35622518673481063,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00748973952316767,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18493770088541805,
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+            "gripper_away_ok": true,
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+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            "failed_keys": []
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PressSuccessChecker",
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+          "metrics": {
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+            "max_contact_point_stable_frames": 121,
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+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00739314364125762,
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
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+            "min_contact_pad_to_button": 0.021083519190038383,
+            "closest_contact_pad": [
+              0.11939675360918044,
+              -0.41358621935876433,
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+              0.11939675360918044,
+              -0.41248294711112976,
+              0.7694157361984253
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "press",
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+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "08b5cc7b1595fd52ca32514d8caf3945b9afd64bbfd4c98a97682e7b164fb2d5",
+    "visual_seed": 4210376071073923666,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5dd7ec736002304ccc72a434759b64e55faade54
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_67_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+      "reason": "executed",
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+              0.2646636638596382,
+              1.1624513316463836
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+            "lift_margin": 0.3013447044223282,
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+              0.25938637766788153,
+              1.1553242959222902
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+              0.005277286191756658,
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+              0.24020980961638294,
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+              1.1624513316463836
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+              0.2524367367380106,
+              1.1624513316463836
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+              0.012226927121627595,
+              0.0
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047862576031606346,
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 359,
+            "max_stable_success_frames": 359,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              -0.35623692149338043,
+              0.8515394990893804
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+              -0.357572550933027,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18390791289997224,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
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+      "physical_semantics": {
+        "skill": "place",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PressSuccessChecker",
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+          "metrics": {
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+            "contact_point_seen_ok": true,
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+            "contact_point_stable_frames": 0,
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+            "max_contact_point_contacted_z_stable_frames": 77,
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+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007467288979320251,
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+            "closest_active_finger_minus_button": [
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+              -0.06322339177131658,
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+            "min_contact_pad_to_button": 0.02108663093497899,
+            "closest_contact_pad": [
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+              -0.4150157167593872,
+              0.7903949083910805
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+              -0.41383093595504755,
+              0.7693415880203247
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+            "closest_contact_pad_minus_button": [
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+              -0.0011847808043396468,
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "press",
+              "target_object": "heat_button",
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+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e002b06b7eabc43633cb4e12eaa3f60386b82fe718ee1446cc1f943033c50eea",
+    "visual_seed": 3651659409200819868,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..53a68444faa6ef01a814c5e771f16cef7f741d94
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_68_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2197806326595249,
+              0.2633859131181493,
+              1.1615475177963788
+            ],
+            "current_z": 1.1615475177963788,
+            "required_z": 0.861107044456569,
+            "initial_z": 0.7611070444565691,
+            "lift_margin": 0.3004404733398097,
+            "gripper_z": 1.154038876377894,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21456231361828823,
+              0.2583332312177554,
+              1.154038876377894
+            ],
+            "object_minus_gripper": [
+              0.00521831904123668,
+              0.005052681900393874,
+              0.0075086414184848405
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+            "object_to_gripper_xy": 0.007263638757723373,
+            "object_to_gripper_z": 0.0075086414184848405,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2197806326595249,
+              0.23895715790277305,
+              1.1615475177963788
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+            "finger_b": [
+              0.208840274154093,
+              0.2633859131181493,
+              1.1615475177963788
+            ],
+            "finger_midpoint": [
+              0.21431045340680896,
+              0.2511715355104612,
+              1.1615475177963788
+            ],
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+              0.005470179252715951,
+              0.01221437760768812,
+              0.0
+            ],
+            "finger_gap": 0.026766686862593737,
+            "fingertip_max_gap": 0.0906708797248405,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013383343431296869,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.2115196495280571,
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+            "fingertip_min_top_clearance": 0.014991639519503474,
+            "object_projection_between_fingers": 0.8329394638597907,
+            "object_to_finger_line_xy": 0.009984774778799709,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047835439862420254,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2126270283825776,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27247911966236693,
+              -0.3598428955429671,
+              0.8515396102193062
+            ],
+            "target_position": [
+              0.2634100422353722,
+              -0.36076204123892913,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009115535869450095,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18779264910844676,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396102193062,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521869804950813,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08557921835770547,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1564101546774794,
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+            "release_gap_ok": false,
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+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.007588505744934082,
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+            "min_ee_to_button": 0.035133935116296304,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007588505744934082,
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+            "physical_press_ok": true,
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+            "contacted_z_stable_frames": 0,
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+            "contact_point_distance": 0.021073425510902077,
+            "contact_point_source": "active_contact_pad_positions",
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+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
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+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007588527787567278,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "closest_active_finger": [
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+              -0.41702353954315174,
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
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+              -0.06065484881401073,
+              0.034406423568725586
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+            "min_contact_pad_to_button": 0.021073425510902077,
+            "closest_contact_pad": [
+              0.11909182369709015,
+              -0.41702118515968317,
+              0.7902937776837536
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+            "closest_contact_pad_button": [
+              0.11909182369709015,
+              -0.41702118515968317,
+              0.7692203521728516
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021073425510902077
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5762e38821a3818eeb1e14845785793e3d1fa11dbf81ca25cf7646ef315bb405",
+    "visual_seed": 5818376654353352292,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..23e82675688815affb909a9422d50363e0a16693
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_69_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.2608669995006214,
+              1.1610578795739421
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+            "current_z": 1.1610578795739421,
+            "required_z": 0.861106984851924,
+            "initial_z": 0.7611069848519241,
+            "lift_margin": 0.2999508947220181,
+            "gripper_z": 1.1536862060956294,
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+            "gripper_position": [
+              0.21439537750124732,
+              0.2556978902154421,
+              1.1536862060956294
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+              0.005201230581449251,
+              0.00516910928517933,
+              0.00737167347831269
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+            "object_to_gripper_z": 0.00737167347831269,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23673178906195247,
+              1.1610578795739421
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+            "finger_b": [
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+              0.2608669995006214,
+              1.1610578795739421
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+            "finger_midpoint": [
+              0.21384188959778483,
+              0.24879939428128695,
+              1.1610578795739421
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+            "object_minus_finger_midpoint": [
+              0.005754718484911742,
+              0.012067605219334476,
+              0.0
+            ],
+            "finger_gap": 0.026739026202933686,
+            "fingertip_max_gap": 0.09079936446122752,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1610578795739421,
+            "object_top_z": 1.211008450076305,
+            "finger_top_clearance": 0.049950570502362845,
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+            "object_projection_between_fingers": 0.8147249308064495,
+            "object_to_finger_line_xy": 0.010388661172216101,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04789968223061376,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.31987579646772385,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 363,
+            "max_stable_success_frames": 363,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27761054653782463,
+              -0.35206743518844164,
+              0.8515395691376602
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+            "target_position": [
+              0.2682973892967209,
+              -0.3535354586826404,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009428148852083427,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18516080919074307,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395691376602,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577510093295817,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15259399656066255,
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+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
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+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.007620811462402344,
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+            "min_ee_to_button": 0.035132115041583145,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007620811462402344,
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+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02121791326915101,
+            "contact_point_source": "active_contact_pad_positions",
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+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007620811462402344,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007620832441260151,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+            "closest_ee": [
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+              -0.39420533180236816,
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+              0.12400089204311365,
+              -0.4097952544689178,
+              0.7767807245254517
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14066228270530695,
+              0.015589922666549627,
+              0.03438383340835571
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+            "min_contact_pad_to_button": 0.02121791326915101,
+            "closest_contact_pad": [
+              0.12397950142621988,
+              -0.4123464178202424,
+              0.790252044586854
+            ],
+            "closest_contact_pad_button": [
+              0.12397950142621988,
+              -0.4097953736782074,
+              0.7691880464553833
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002551044142034997,
+              0.02106399813147075
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2e235ed436058e2d1b29d1a3d6e7497eab449695c2d346bfbb17df32e69c80f0",
+    "visual_seed": 7921484141708884339,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b3aca1aa09056905fdc273fe4234302c8867e27
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_6_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21916609691790492,
+              0.26654098307383917,
+              1.161670020687001
+            ],
+            "current_z": 1.161670020687001,
+            "required_z": 0.8611069848519243,
+            "initial_z": 0.7611069848519243,
+            "lift_margin": 0.3005630358350767,
+            "gripper_z": 1.154294345253569,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2138691449883716,
+              0.26134322234817153,
+              1.154294345253569
+            ],
+            "object_minus_gripper": [
+              0.005296951929533333,
+              0.005197760725667633,
+              0.007375675433431983
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+            "object_to_gripper_xy": 0.007421213937428285,
+            "object_to_gripper_z": 0.007375675433431983,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21916609691790492,
+              0.24218239474158118,
+              1.161670020687001
+            ],
+            "finger_b": [
+              0.20784775829962515,
+              0.26654098307383917,
+              1.161670020687001
+            ],
+            "finger_midpoint": [
+              0.21350692760876505,
+              0.25436168890771016,
+              1.161670020687001
+            ],
+            "object_minus_finger_midpoint": [
+              0.005659169309139872,
+              0.012179294166129007,
+              0.0
+            ],
+            "finger_gap": 0.026859739660288186,
+            "fingertip_max_gap": 0.09080828930677431,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0134298698301441,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161670020687001,
+            "object_top_z": 1.2116250087436882,
+            "finger_top_clearance": 0.04995498805668719,
+            "fingertip_min_top_clearance": 0.014986496417006188,
+            "object_projection_between_fingers": 0.8224332001161411,
+            "object_to_finger_line_xy": 0.010264386568697525,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790414465338716,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.33066155706547157,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27460224143671463,
+              -0.35944497784617685,
+              0.8515395840906838
+            ],
+            "target_position": [
+              0.2652168401470011,
+              -0.3608155533835475,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009484947794932532,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18778960813659426,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395840906838,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547116475442682,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08564229666224928,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15581472906648886,
+            "release_required_pad_clearance": 0.05282114833112464,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6875618953494055,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.007696866989135742,
+            "max_z_decrease": 0.007696866989135742,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510247796565308,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007696866989135742,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021075749119490013,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007696866989135742,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007696888375007779,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.4170770049095153,
+              0.7768088579177856
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+            "button_final": [
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+              -0.4170770049095153,
+              0.7768088579177856
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+            "closest_ee": [
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+              -0.41668948447738513,
+              0.8078415522746667
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+            "closest_button": [
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+              -0.41707423329353327,
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+            "closest_ee_minus_button": [
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+              0.0003847488161481394,
+              0.03508533336444941
+            ],
+            "button_min_z_position": [
+              0.12089911103248593,
+              -0.4170728325843811,
+              0.7691119909286499
+            ],
+            "min_active_finger_to_button": 0.14694607844955834,
+            "closest_active_finger": [
+              -0.007981866598129272,
+              -0.4787040054798126,
+              0.8104939460754395
+            ],
+            "closest_active_finger_button": [
+              0.12091509252786636,
+              -0.4170777499675751,
+              0.7761293053627014
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12889695912599564,
+              -0.06162625551223755,
+              0.03436464071273804
+            ],
+            "min_contact_pad_to_button": 0.021075749119490013,
+            "closest_contact_pad": [
+              0.12089911103248593,
+              -0.41788419344163863,
+              0.7901721166288207
+            ],
+            "closest_contact_pad_button": [
+              0.12089911103248593,
+              -0.4170728325843811,
+              0.7691119909286499
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008113608572575259,
+              0.021060125700170795
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f59c12899061eb60875d4454561b14cc0c76371d6302b3705ff7df423c0cd081",
+    "visual_seed": 8379183133228843004,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..97ef28ca5dbfbb090b56e93bc01468175086b936
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_70_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.22007428468905624,
+              0.2616592766135485,
+              1.159242301431457
+            ],
+            "current_z": 1.159242301431457,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.29813555499811184,
+            "gripper_z": 1.1519684961231564,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21477565837071805,
+              0.25646469773096514,
+              1.1519684961231564
+            ],
+            "object_minus_gripper": [
+              0.00529862631833819,
+              0.005194578882583345,
+              0.007273805308300574
+            ],
+            "object_to_gripper_xy": 0.007420181307000993,
+            "object_to_gripper_z": 0.007273805308300574,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22007428468905624,
+              0.23737056866941209,
+              1.159242301431457
+            ],
+            "finger_b": [
+              0.20867226024215915,
+              0.2616592766135485,
+              1.159242301431457
+            ],
+            "finger_midpoint": [
+              0.2143732724656077,
+              0.24951492264148029,
+              1.159242301431457
+            ],
+            "object_minus_finger_midpoint": [
+              0.005701012223448543,
+              0.0121443539720682,
+              0.0
+            ],
+            "finger_gap": 0.026831837340800826,
+            "fingertip_max_gap": 0.09068850203034809,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013415918670400413,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.159242301431457,
+            "object_top_z": 1.2091917335193338,
+            "finger_top_clearance": 0.04994943208787683,
+            "fingertip_min_top_clearance": 0.014984829626363083,
+            "object_projection_between_fingers": 0.8194227184961371,
+            "object_to_finger_line_xy": 0.010321337232522194,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04784425101517405,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.31417962173044706,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2702789710915108,
+              -0.3610776465181242,
+              0.8515395847916097
+            ],
+            "target_position": [
+              0.26169722781796295,
+              -0.36213970988518146,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008647213204768828,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18672479161588937,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395847916097,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589666608930862,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08513147909657613,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15379791031604212,
+            "release_required_pad_clearance": 0.05256573954828807,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.19782342807337075,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007776081562042236,
+            "max_z_decrease": 0.007776081562042236,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035082274509578154,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007776081562042236,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021142445925271543,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007776081562042236,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0077761029930364664,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1173971518874168,
+              -0.41840118169784546,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1173971518874168,
+              -0.41840118169784546,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11698686215707099,
+              -0.4189572517461487,
+              0.807325929823055
+            ],
+            "closest_button": [
+              0.11738643795251844,
+              -0.41839644312858576,
+              0.7722504138946533
+            ],
+            "closest_ee_minus_button": [
+              -0.00039957579544744326,
+              -0.0005608086175629134,
+              0.035075515928401635
+            ],
+            "button_min_z_position": [
+              0.11737933754920955,
+              -0.4183971881866455,
+              0.7690327763557434
+            ],
+            "min_active_finger_to_button": 0.14653691340700128,
+            "closest_active_finger": [
+              -0.024264156818389893,
+              -0.4038164019584656,
+              0.8111518621444702
+            ],
+            "closest_active_finger_button": [
+              0.11739841848611829,
+              -0.41839939355850214,
+              0.7766247987747192
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14166257530450818,
+              0.014582991600036566,
+              0.03452706336975098
+            ],
+            "min_contact_pad_to_button": 0.021142445925271543,
+            "closest_contact_pad": [
+              0.11737933754920955,
+              -0.4200047094782499,
+              0.790114021456545
+            ],
+            "closest_contact_pad_button": [
+              0.11737933754920955,
+              -0.4183971881866455,
+              0.7690327763557434
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001607521291604408,
+              0.02108124510080156
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9ae1e813468d8b14d691618effe10a04b8f2fade4a41b5c050921e2f2189b4eb",
+    "visual_seed": 8433573401494469627,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ab49c94eae8214016b67d2645f94ec9b1b885f4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_71_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.22118994388936097,
+              0.262690730789357,
+              1.1599939085829067
+            ],
+            "current_z": 1.1599939085829067,
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+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.2988873409634958,
+            "gripper_z": 1.1524617166229028,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21600228735881635,
+              0.25752300169022047,
+              1.1524617166229028
+            ],
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+              0.005187656530544621,
+              0.005167729099136542,
+              0.007532191960003987
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+            "object_to_gripper_xy": 0.007322376958403933,
+            "object_to_gripper_z": 0.007532191960003987,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22118994388936097,
+              0.23860202002883035,
+              1.1599939085829067
+            ],
+            "finger_b": [
+              0.20963917441418442,
+              0.262690730789357,
+              1.1599939085829067
+            ],
+            "finger_midpoint": [
+              0.2154145591517727,
+              0.2506463754090937,
+              1.1599939085829067
+            ],
+            "object_minus_finger_midpoint": [
+              0.005775384737588263,
+              0.012044355380263327,
+              0.0
+            ],
+            "finger_gap": 0.026714907103955705,
+            "fingertip_max_gap": 0.09077482473749507,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013357453551977847,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1599939085829067,
+            "object_top_z": 1.2099266648727889,
+            "finger_top_clearance": 0.04993275628988214,
+            "fingertip_min_top_clearance": 0.014979826886964642,
+            "object_projection_between_fingers": 0.8130547235495207,
+            "object_to_finger_line_xy": 0.01041527652955412,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04788741236874754,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 361,
+            "max_stable_success_frames": 361,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27463114331050426,
+              -0.35575080745932747,
+              0.8515395922202337
+            ],
+            "target_position": [
+              0.26568000497615674,
+              -0.356827311022118,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009015638491051336,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18461696685584256,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395922202337,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526948994016347,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08663741141394839,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15322076068684276,
+            "release_required_pad_clearance": 0.053318705706974195,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6551237747306424,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007712960243225098,
+            "max_z_decrease": 0.007712960243225098,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035156444380393115,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007712960243225098,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021241299333731332,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007712960243225098,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007712987420174952,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12137993425130841,
+              -0.41308876872062683,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12137993425130841,
+              -0.41308876872062683,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12260781045977137,
+              -0.4146211083832207,
+              0.8077833023180261
+            ],
+            "closest_button": [
+              0.12136936932802198,
+              -0.41308555006980896,
+              0.772682249546051
+            ],
+            "closest_ee_minus_button": [
+              0.001238441131749396,
+              -0.0015355583134117334,
+              0.03510105277197506
+            ],
+            "button_min_z_position": [
+              0.12135962396860119,
+              -0.4130861759185791,
+              0.7690958976745605
+            ],
+            "min_active_finger_to_button": 0.14483209732479654,
+            "closest_active_finger": [
+              -0.018419727683067322,
+              -0.39734897017478943,
+              0.8111331462860107
+            ],
+            "closest_active_finger_button": [
+              0.12138339877128598,
+              -0.4130859673023224,
+              0.7767271995544434
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1398031264543533,
+              0.01573699712753296,
+              0.03440594673156738
+            ],
+            "min_contact_pad_to_button": 0.021241299333731332,
+            "closest_contact_pad": [
+              0.12135962396860119,
+              -0.415764186459836,
+              0.7901677048330862
+            ],
+            "closest_contact_pad_button": [
+              0.12135962396860119,
+              -0.4130861759185791,
+              0.7690958976745605
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002678010541256881,
+              0.021071807158525635
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "afc078635fbda5082553167d23753b5702ce9d38ed6fa6a7260db289ae4a76fe",
+    "visual_seed": 7461247955042027652,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c34031335f241838d89e5a65f5ab9a1c17c7a8d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_72_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21755425295489333,
+              0.26655483139599295,
+              1.1633395942435563
+            ],
+            "current_z": 1.1633395942435563,
+            "required_z": 0.8611071040612136,
+            "initial_z": 0.7611071040612136,
+            "lift_margin": 0.30223249018234266,
+            "gripper_z": 1.1560048475805835,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21243826744057068,
+              0.261313125803248,
+              1.1560048475805835
+            ],
+            "object_minus_gripper": [
+              0.005115985514322657,
+              0.00524170559274495,
+              0.007334746662972735
+            ],
+            "object_to_gripper_xy": 0.007324533111657899,
+            "object_to_gripper_z": 0.007334746662972735,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21755425295489333,
+              0.2424336861930632,
+              1.1633395942435563
+            ],
+            "finger_b": [
+              0.206027641912669,
+              0.26655483139599295,
+              1.1633395942435563
+            ],
+            "finger_midpoint": [
+              0.21179094743378118,
+              0.2544942587945281,
+              1.1633395942435563
+            ],
+            "object_minus_finger_midpoint": [
+              0.00576330552111215,
+              0.01206057260146487,
+              0.0
+            ],
+            "finger_gap": 0.026733731651596045,
+            "fingertip_max_gap": 0.09072501378727388,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013366865825798015,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1633395942435563,
+            "object_top_z": 1.2133093698231212,
+            "finger_top_clearance": 0.049969775579564946,
+            "fingertip_min_top_clearance": 0.014990932673869483,
+            "object_projection_between_fingers": 0.8140979802949107,
+            "object_to_finger_line_xy": 0.010400158955384252,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04786250689363694,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2254971648783911,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 362,
+            "max_stable_success_frames": 362,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2740229771484356,
+              -0.3532022010194357,
+              0.8515394978038139
+            ],
+            "target_position": [
+              0.26468146718079283,
+              -0.354509398823171,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00943252747537263,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18527823305269228,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394978038139,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547108705994773,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08555941838497218,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15346491244583405,
+            "release_required_pad_clearance": 0.05277970919248609,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6078048873462792,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007661998271942139,
+            "max_z_decrease": 0.007661998271942139,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512482771420825,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007661998271942139,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02110331183147314,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007661998271942139,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007662020258214757,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1203813925385475,
+              -0.41077086329460144,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1203813925385475,
+              -0.41077086329460144,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11857792099909253,
+              -0.41091219559701647,
+              0.8066326735633299
+            ],
+            "closest_button": [
+              0.12036836892366409,
+              -0.41076570749282837,
+              0.7715538144111633
+            ],
+            "closest_ee_minus_button": [
+              -0.0017904479245715588,
+              -0.00014648810418810276,
+              0.035078859152166575
+            ],
+            "button_min_z_position": [
+              0.12036333233118057,
+              -0.4107675850391388,
+              0.7691468596458435
+            ],
+            "min_active_finger_to_button": 0.14775431170594683,
+            "closest_active_finger": [
+              -0.009315602481365204,
+              -0.4726411700248718,
+              0.8108305931091309
+            ],
+            "closest_active_finger_button": [
+              0.12038203328847885,
+              -0.41077151894569397,
+              0.7764502763748169
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12969763576984406,
+              -0.061869651079177856,
+              0.034380316734313965
+            ],
+            "min_contact_pad_to_button": 0.02110331183147314,
+            "closest_contact_pad": [
+              0.12036333233118057,
+              -0.4121945090729302,
+              0.7902018746792787
+            ],
+            "closest_contact_pad_button": [
+              0.12036333233118057,
+              -0.4107675850391388,
+              0.7691468596458435
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014269240337914102,
+              0.02105501503343521
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "88e95cf0f4f98f104451693edd778bf9884ab6d2e5131548b218dcf7ee102eb9",
+    "visual_seed": 7058080126568316921,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc7c885167872030eb73c3e0346a43c0f928304f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_73_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.22297547028682524,
+              0.26419032714666496,
+              1.1605005727284592
+            ],
+            "current_z": 1.1605005727284592,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.299393885899759,
+            "gripper_z": 1.1533327963231785,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21759721837854895,
+              0.25894162732180404,
+              1.1533327963231785
+            ],
+            "object_minus_gripper": [
+              0.005378251908276288,
+              0.005248699824860925,
+              0.007167776405280657
+            ],
+            "object_to_gripper_xy": 0.007514947999844885,
+            "object_to_gripper_z": 0.007167776405280657,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22297547028682524,
+              0.23998307145481096,
+              1.1605005727284592
+            ],
+            "finger_b": [
+              0.21129094737638252,
+              0.26419032714666496,
+              1.1605005727284592
+            ],
+            "finger_midpoint": [
+              0.21713320883160386,
+              0.25208669930073796,
+              1.1605005727284592
+            ],
+            "object_minus_finger_midpoint": [
+              0.005842261455221376,
+              0.012103627845927,
+              0.0
+            ],
+            "finger_gap": 0.026879719190785065,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1605005727284592,
+            "object_top_z": 1.2104547616275347,
+            "finger_top_clearance": 0.04995418889907555,
+            "fingertip_min_top_clearance": 0.01498625666972263,
+            "object_projection_between_fingers": 0.8110388540053589,
+            "object_to_finger_line_xy": 0.010522812077120964,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047880251724581865,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.32818732125428424,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 360,
+            "max_stable_success_frames": 360,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27321386802696446,
+              -0.36080053012584007,
+              0.8515395883265797
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+            "target_position": [
+              0.2642718685491708,
+              -0.36190744059802404,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009010250021741509,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18373439739555505,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395883265797,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753160443089376,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08660823378446149,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15219380865901183,
+            "release_required_pad_clearance": 0.053304116892230746,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.626502277324976,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007583200931549072,
+            "max_z_decrease": 0.007583200931549072,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510887560245433,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007583200931549072,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02116140097551231,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007583200931549072,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007583229555343922,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11997179687023161,
+              -0.4181689023971558,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11997179687023161,
+              -0.4181689023971558,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12080767073903573,
+              -0.4190650020216303,
+              0.8078025168674364
+            ],
+            "closest_button": [
+              0.11996150016784667,
+              -0.4181646406650544,
+              0.7727153897285461
+            ],
+            "closest_ee_minus_button": [
+              0.0008461705711890616,
+              -0.0009003613565758961,
+              0.035087127138890284
+            ],
+            "button_min_z_position": [
+              0.1199512705206871,
+              -0.4181653261184693,
+              0.7692256569862366
+            ],
+            "min_active_finger_to_button": 0.14531259132264449,
+            "closest_active_finger": [
+              -0.020513400435447693,
+              -0.4044506847858429,
+              0.8109608292579651
+            ],
+            "closest_active_finger_button": [
+              0.11997254937887189,
+              -0.41816663742065435,
+              0.7764453291893005
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14048594981431958,
+              0.013715952634811457,
+              0.03451550006866455
+            ],
+            "min_contact_pad_to_button": 0.02116140097551231,
+            "closest_contact_pad": [
+              0.1199512705206871,
+              -0.42000027139437957,
+              0.7903073520575734
+            ],
+            "closest_contact_pad_button": [
+              0.1199512705206871,
+              -0.4181653261184693,
+              0.7692256569862366
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018349452759102713,
+              0.021081695071336837
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4f2e77178b8df4abd431e1e9ee75fe146e73592c1ff5cb12f2ef551af22a401a",
+    "visual_seed": 8881887247810732544,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dc7bd223dc2ad0a9d05ed731093f6f5670c830f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_74_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2233908508367493,
+              0.26136638959407,
+              1.1603127798370454
+            ],
+            "current_z": 1.1603127798370454,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.2992060930083452,
+            "gripper_z": 1.1527517097943707,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21809859133786444,
+              0.25631170769273376,
+              1.1527517097943707
+            ],
+            "object_minus_gripper": [
+              0.0052922594988848715,
+              0.005054681901336233,
+              0.0075610700426747
+            ],
+            "object_to_gripper_xy": 0.007318320827022632,
+            "object_to_gripper_z": 0.0075610700426747,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2233908508367493,
+              0.23686811362302837,
+              1.1603127798370454
+            ],
+            "finger_b": [
+              0.21247366119161495,
+              0.26136638959407,
+              1.1603127798370454
+            ],
+            "finger_midpoint": [
+              0.21793225601418215,
+              0.2491172516085492,
+              1.1603127798370454
+            ],
+            "object_minus_finger_midpoint": [
+              0.005458594822567164,
+              0.012249137985520797,
+              0.0
+            ],
+            "finger_gap": 0.026820711312363514,
+            "fingertip_max_gap": 0.09079905858829052,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013410355656181738,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1603127798370454,
+            "object_top_z": 1.2103087232174254,
+            "finger_top_clearance": 0.04999594338038005,
+            "fingertip_min_top_clearance": 0.014998783014114047,
+            "object_projection_between_fingers": 0.8343157882210378,
+            "object_to_finger_line_xy": 0.009971858003311504,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04789952929414526,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3261551339384909,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26792366023937175,
+              -0.3590467366850789,
+              0.8515396359470653
+            ],
+            "target_position": [
+              0.25924899726373457,
+              -0.36010204252854316,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008738618206795645,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18493712056861736,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396359470653,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582914792919845,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08591271616658401,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15223356451775566,
+            "release_required_pad_clearance": 0.05295635808329201,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9487304518653126,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007505178451538086,
+            "max_z_decrease": 0.007505178451538086,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035099573869066085,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007505178451538086,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021185779783486555,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007505178451538086,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007505196541497246,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11494892090559003,
+              -0.41636350750923157,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11494892090559003,
+              -0.41636350750923157,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11485731192881574,
+              -0.4173977423008748,
+              0.8077986694205682
+            ],
+            "closest_button": [
+              0.11493782699108122,
+              -0.41635921597480774,
+              0.7727145552635193
+            ],
+            "closest_ee_minus_button": [
+              -8.051506226548766e-05,
+              -0.0010385263260670463,
+              0.03508411415704893
+            ],
+            "button_min_z_position": [
+              0.11493261158466336,
+              -0.41636115312576294,
+              0.7693036794662476
+            ],
+            "min_active_finger_to_button": 0.1461687415572686,
+            "closest_active_finger": [
+              -0.026149339973926544,
+              -0.4000132083892822,
+              0.8107946515083313
+            ],
+            "closest_active_finger_button": [
+              0.11494932323694226,
+              -0.4163617491722107,
+              0.7763099670410156
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1410986632108688,
+              0.016348540782928467,
+              0.034484684467315674
+            ],
+            "min_contact_pad_to_button": 0.021185779783486555,
+            "closest_contact_pad": [
+              0.11493261158466336,
+              -0.41855189071358756,
+              0.7903758870832885
+            ],
+            "closest_contact_pad_button": [
+              0.11493261158466336,
+              -0.41636115312576294,
+              0.7693036794662476
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021907375878246205,
+              0.021072207617040983
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a5b17cdc6f73e85f21b45b10477967223aa4bead6fe3126abf1568dae0f83205",
+    "visual_seed": 1707849935652278200,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec5c334a1843b7c72026b5b09c22f2f94ae27851
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_75_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2202637802659396,
+              0.2648649213874288,
+              1.1625686666254453
+            ],
+            "current_z": 1.1625686666254453,
+            "required_z": 0.861106984851924,
+            "initial_z": 0.7611069848519241,
+            "lift_margin": 0.3014616817735213,
+            "gripper_z": 1.1552354296379839,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21477643356741158,
+              0.2596802202840574,
+              1.1552354296379839
+            ],
+            "object_minus_gripper": [
+              0.005487346698528017,
+              0.005184701103371381,
+              0.007333236987461467
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+            "object_to_gripper_xy": 0.007549311181899097,
+            "object_to_gripper_z": 0.007333236987461467,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2202637802659396,
+              0.24025995739674416,
+              1.1625686666254453
+            ],
+            "finger_b": [
+              0.20911344095701037,
+              0.2648649213874288,
+              1.1625686666254453
+            ],
+            "finger_midpoint": [
+              0.21468861061147498,
+              0.25256243939208645,
+              1.1625686666254453
+            ],
+            "object_minus_finger_midpoint": [
+              0.005575169654464612,
+              0.01230248199534234,
+              0.0
+            ],
+            "finger_gap": 0.02701359509001235,
+            "fingertip_max_gap": 0.09068827852593522,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0135067975450062,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.2125308881609613,
+            "finger_top_clearance": 0.049962221535515994,
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+            "object_projection_between_fingers": 0.8296228321047631,
+            "object_to_finger_line_xy": 0.010156134208199288,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047844139262967614,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.22052730047565455,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 359,
+            "max_stable_success_frames": 359,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27362420063947435,
+              -0.3583404841502942,
+              0.8515401748932124
+            ],
+            "target_position": [
+              0.26385088524621414,
+              -0.359892912981727,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009895844029328714,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18633696118357787,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515401748932124,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533621532928599,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08570314781900597,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15492907560190256,
+            "release_required_pad_clearance": 0.052851573909502986,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7454568212279052,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007720589637756348,
+            "max_z_decrease": 0.007720589637756348,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035131138874459726,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007720589637756348,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021247009217249688,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007720589637756348,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0077206160022864805,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11955080926418303,
+              -0.41615438461303705,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11955080926418303,
+              -0.41615438461303705,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12003623082254652,
+              -0.4176300583795266,
+              0.8077095175357434
+            ],
+            "closest_button": [
+              0.11953946202993389,
+              -0.4161508679389953,
+              0.7726130485534668
+            ],
+            "closest_ee_minus_button": [
+              0.0004967687926126368,
+              -0.0014791904405312972,
+              0.035096468982276585
+            ],
+            "button_min_z_position": [
+              0.1195309907197952,
+              -0.4161505997180938,
+              0.7690882682800293
+            ],
+            "min_active_finger_to_button": 0.1455448811029514,
+            "closest_active_finger": [
+              -0.020922556519508362,
+              -0.39987388253211975,
+              0.8111430406570435
+            ],
+            "closest_active_finger_button": [
+              0.11955475807189939,
+              -0.4161525368690491,
+              0.7767273187637329
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14047731459140775,
+              0.01627865433692932,
+              0.03441572189331055
+            ],
+            "min_contact_pad_to_button": 0.021247009217249688,
+            "closest_contact_pad": [
+              0.1195309907197952,
+              -0.41888601463770164,
+              0.7901584582624542
+            ],
+            "closest_contact_pad_button": [
+              0.1195309907197952,
+              -0.4161505997180938,
+              0.7690882682800293
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002735414919607826,
+              0.021070189982424936
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "320ee9a0d4b1e84b0d2b07435a0e95b53d170cc0c40dd6fc7cf8aa0f9abf1f40",
+    "visual_seed": 5893204248517188691,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c23fc18b5d340700151674f16702d4d099747981
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_76_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2165488338624418,
+              0.26573394816961204,
+              1.1608967190077255
+            ],
+            "current_z": 1.1608967190077255,
+            "required_z": 0.861107044456569,
+            "initial_z": 0.7611070444565691,
+            "lift_margin": 0.29978967455115646,
+            "gripper_z": 1.1534295219275443,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21136358730771526,
+              0.26064142745731256,
+              1.1534295219275443
+            ],
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+              0.005185246554726547,
+              0.0050925207122994864,
+              0.007467197080181176
+            ],
+            "object_to_gripper_xy": 0.0072677746964599,
+            "object_to_gripper_z": 0.007467197080181176,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2165488338624418,
+              0.24142207784700243,
+              1.1608967190077255
+            ],
+            "finger_b": [
+              0.20542288696420805,
+              0.26573394816961204,
+              1.1608967190077255
+            ],
+            "finger_midpoint": [
+              0.21098586041332493,
+              0.25357801300830723,
+              1.1608967190077255
+            ],
+            "object_minus_finger_midpoint": [
+              0.005562973449116881,
+              0.01215593516130481,
+              0.0
+            ],
+            "finger_gap": 0.0267367487358823,
+            "fingertip_max_gap": 0.09055353813242623,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01336837436794115,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1608967190077255,
+            "object_top_z": 1.210826414296775,
+            "finger_top_clearance": 0.04992969528904956,
+            "fingertip_min_top_clearance": 0.014978908586714834,
+            "object_projection_between_fingers": 0.8268363321420098,
+            "object_to_finger_line_xy": 0.010116883727267942,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047776769066213115,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.09594088691106761,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26759577412266344,
+              -0.357507193489223,
+              0.8515395691376603
+            ],
+            "target_position": [
+              0.2592494508285169,
+              -0.3582534452301292,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008379618379808147,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18493140512685985,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395691376603,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548894343547967,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15293372268541003,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007431983947753906,
+            "max_z_decrease": 0.007431983947753906,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509646567104981,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007431983947753906,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02108786909857696,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007431983947753906,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007432007318619597,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11494937539100646,
+              -0.41451489925384516,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11494937539100646,
+              -0.41451489925384516,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11424181676130477,
+              -0.413373500718112,
+              0.8077752102223144
+            ],
+            "closest_button": [
+              0.11493901908397675,
+              -0.4145095348358154,
+              0.7727040648460388
+            ],
+            "closest_ee_minus_button": [
+              -0.0006972023226719803,
+              0.001136034117703355,
+              0.035071145376275537
+            ],
+            "button_min_z_position": [
+              0.11493101716041565,
+              -0.41451168060302734,
+              0.7693768739700317
+            ],
+            "min_active_finger_to_button": 0.1463353723618609,
+            "closest_active_finger": [
+              -0.012293018400669098,
+              -0.4780164361000061,
+              0.8108750581741333
+            ],
+            "closest_active_finger_button": [
+              0.1149507388472557,
+              -0.41451245546340937,
+              0.7763741612434387
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1272437572479248,
+              -0.06350398063659674,
+              0.03450089693069458
+            ],
+            "min_contact_pad_to_button": 0.02108786909857696,
+            "closest_contact_pad": [
+              0.11493101716041565,
+              -0.41451168060302734,
+              0.7904647430686087
+            ],
+            "closest_contact_pad_button": [
+              0.11493101716041565,
+              -0.41451168060302734,
+              0.7693768739700317
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108786909857696
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a2cfbdd396d1e0ca6ef7c705367495970d3b996c518b285921270a45f721a2c0",
+    "visual_seed": 5981828871091746363,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1eca95fd40391b25a0e89e6c0b641014f20270dc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_77_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21919976855398704,
+              0.26267653607664887,
+              1.1601267650162692
+            ],
+            "current_z": 1.1601267650162692,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.29902019739685837,
+            "gripper_z": 1.1530501031990834,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21388714039366938,
+              0.25737118961583866,
+              1.1530501031990834
+            ],
+            "object_minus_gripper": [
+              0.005312628160317662,
+              0.005305346460810212,
+              0.007076661817185803
+            ],
+            "object_to_gripper_xy": 0.00750804362261113,
+            "object_to_gripper_z": 0.007076661817185803,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21919976855398704,
+              0.2384629457014757,
+              1.1601267650162692
+            ],
+            "finger_b": [
+              0.20752667468234448,
+              0.26267653607664887,
+              1.1601267650162692
+            ],
+            "finger_midpoint": [
+              0.21336322161816576,
+              0.25056974088906225,
+              1.1601267650162692
+            ],
+            "object_minus_finger_midpoint": [
+              0.00583654693582128,
+              0.012106795187586616,
+              0.0
+            ],
+            "finger_gap": 0.026880459062167412,
+            "fingertip_max_gap": 0.09072976085193268,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013440229531083732,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1601267650162692,
+            "object_top_z": 1.2100648261328768,
+            "finger_top_clearance": 0.04993806111660759,
+            "fingertip_min_top_clearance": 0.014981418334982276,
+            "object_projection_between_fingers": 0.8114187138155199,
+            "object_to_finger_line_xy": 0.010514980892447122,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047864880425966344,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.24386441982912557,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26851235279233654,
+              -0.3596278307674212,
+              0.8515395886037869
+            ],
+            "target_position": [
+              0.26006664575313715,
+              -0.36090241932307665,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008541343183492273,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18473771537922246,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395886037869,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075912816052061,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08520236171075819,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15172644969079238,
+            "release_required_pad_clearance": 0.0526011808553791,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.26540799094653694,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00772702693939209,
+            "max_z_decrease": 0.00772702693939209,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517294598348785,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00772702693939209,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021098502436046385,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00772702693939209,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007727049542153744,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11576656997203823,
+              -0.4171638786792755,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11576656997203823,
+              -0.4171638786792755,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11761494889398813,
+              -0.41550283197958665,
+              0.8074890553177081
+            ],
+            "closest_button": [
+              0.11575540155172345,
+              -0.4171591103076935,
+              0.7724043726921082
+            ],
+            "closest_ee_minus_button": [
+              0.001859547342264678,
+              0.0016562783281068305,
+              0.03508468262559994
+            ],
+            "button_min_z_position": [
+              0.11574801802635187,
+              -0.41716161370277405,
+              0.7690818309783936
+            ],
+            "min_active_finger_to_button": 0.1438766390679731,
+            "closest_active_finger": [
+              -0.009164214134216309,
+              -0.47964707016944885,
+              0.8105846643447876
+            ],
+            "closest_active_finger_button": [
+              0.11576850712299343,
+              -0.4171606600284576,
+              0.7761209011077881
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12493272125720974,
+              -0.062486410140991266,
+              0.03446376323699951
+            ],
+            "min_contact_pad_to_button": 0.021098502436046385,
+            "closest_contact_pad": [
+              0.11574801802635187,
+              -0.41716161370277405,
+              0.7901803334144399
+            ],
+            "closest_contact_pad_button": [
+              0.11574801802635187,
+              -0.41716161370277405,
+              0.7690818309783936
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021098502436046385
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1c5ddb49c03c048b71ec0d619c6d8dd8aa6f1c344f036a35125f99b915708465",
+    "visual_seed": 3196669336579167787,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e7c525f07924a25b195b078c54905ecb1f2a29e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_78_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21714919103843017,
+              0.26669545119074667,
+              1.1610788921144075
+            ],
+            "current_z": 1.1610788921144075,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.2999722648903521,
+            "gripper_z": 1.1537650356371745,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2120013122674947,
+              0.2614152797768903,
+              1.1537650356371745
+            ],
+            "object_minus_gripper": [
+              0.005147878770935477,
+              0.005280171413856394,
+              0.007313856477233038
+            ],
+            "object_to_gripper_xy": 0.007374338343197604,
+            "object_to_gripper_z": 0.007313856477233038,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21714919103843017,
+              0.2426291294445159,
+              1.1610788921144075
+            ],
+            "finger_b": [
+              0.20547094131198224,
+              0.26669545119074667,
+              1.1610788921144075
+            ],
+            "finger_midpoint": [
+              0.2113100661752062,
+              0.25466229031763127,
+              1.1610788921144075
+            ],
+            "object_minus_finger_midpoint": [
+              0.005839124863223966,
+              0.0120331608731154,
+              0.0
+            ],
+            "finger_gap": 0.02675012820654102,
+            "fingertip_max_gap": 0.09073621102565826,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013375064103270521,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1610788921144075,
+            "object_top_z": 1.2110598749382886,
+            "finger_top_clearance": 0.04998098282388108,
+            "fingertip_min_top_clearance": 0.014994294847164323,
+            "object_projection_between_fingers": 0.8094083893541486,
+            "object_to_finger_line_xy": 0.010506585732206086,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047868105512829134,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.21965686745332197,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
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+              "source_missing": false,
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+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
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+              -0.3563711505829635,
+              0.8515395173480536
+            ],
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+              0.265310154453888,
+              -0.3575605613367332,
+              0.8084375599031817
+            ],
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+            "xy_dist": 0.009187593246657995,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18373955479362614,
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+            "gripper_away_ok": true,
+            "object_z": 0.8515395173480536,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538745866513784,
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+            "release_gap_ok": false,
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+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 1.4110876064925972,
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007700324058532715,
+            "max_z_decrease": 0.007700324058532715,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035144060056617715,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007700324058532715,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021081841161846162,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007700324058532715,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007700349645837223,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1210100799798965,
+              -0.41382202506065363,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1210100799798965,
+              -0.41382202506065363,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12251285025328876,
+              -0.4128760937508969,
+              0.8077057147357465
+            ],
+            "closest_button": [
+              0.12099815905094144,
+              -0.4138188064098358,
+              0.7726069688796997
+            ],
+            "closest_ee_minus_button": [
+              0.001514691202347318,
+              0.0009427126589389156,
+              0.035098745856046776
+            ],
+            "button_min_z_position": [
+              0.12099040299654003,
+              -0.4138194024562835,
+              0.7691085338592529
+            ],
+            "min_active_finger_to_button": 0.14446880602593984,
+            "closest_active_finger": [
+              -0.005073048174381256,
+              -0.47540807723999023,
+              0.8110668063163757
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+            "closest_active_finger_button": [
+              0.12101287394762035,
+              -0.4138196110725402,
+              0.7767093181610107
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+            "closest_active_finger_minus_button": [
+              -0.1260859221220016,
+              -0.06158846616745001,
+              0.03435748815536499
+            ],
+            "min_contact_pad_to_button": 0.021081841161846162,
+            "closest_contact_pad": [
+              0.12099040299654003,
+              -0.41398884550614357,
+              0.7901896940698809
+            ],
+            "closest_contact_pad_button": [
+              0.12099040299654003,
+              -0.4138194024562835,
+              0.7691085338592529
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00016944304986005188,
+              0.021081160210628003
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "951bf76fbbfa7531ddbb6e352f4eb1d5ebc6f99421d55ded59d17af972491548",
+    "visual_seed": 6318267539790287556,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9489573ab18b4b6ce00a66f4f573ff5c78f31559
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_79_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
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+              0.2630699002665434,
+              1.1616248632966952
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+            "lift_margin": 0.3005179976540604,
+            "gripper_z": 1.1543859501435272,
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+            "gripper_position": [
+              0.21130407723027747,
+              0.25796022360533455,
+              1.1543859501435272
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+              0.005374026092499817,
+              0.005109676661208873,
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+            "object_to_gripper_z": 0.007238913153168047,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23850504826778077,
+              1.1616248632966952
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+            "finger_b": [
+              0.2056900900501127,
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+              1.1616248632966952
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+            "finger_midpoint": [
+              0.211184096686445,
+              0.2507874742671621,
+              1.1616248632966952
+            ],
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+              0.005494006636332288,
+              0.012282425999381341,
+              0.0
+            ],
+            "finger_gap": 0.026910376983635263,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_top_z": 1.2115891100332559,
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+            "object_projection_between_fingers": 0.8332757443609771,
+            "object_to_finger_line_xy": 0.010030291287542646,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.24945922393199757,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
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+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "ground",
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+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26849488451722825,
+              -0.36167041324212656,
+              0.8515395774340891
+            ],
+            "target_position": [
+              0.25952583721297756,
+              -0.3627369345436961,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009032235450462311,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.185728023221105,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395774340891,
+            "min_z": 0.5774145980897916,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566933447228856,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08540872977475457,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15333187735391482,
+            "release_required_pad_clearance": 0.052704364887377286,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4630930427307109,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0077495574951171875,
+            "max_z_decrease": 0.0077495574951171875,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516057780836909,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0077495574951171875,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021102782344390225,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0077495574951171875,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007749586053995099,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11522576212882994,
+              -0.4189983904361725,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11522576212882994,
+              -0.4189983904361725,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11698346957426367,
+              -0.4173826611460848,
+              0.8074361254780374
+            ],
+            "closest_button": [
+              0.11521467566490172,
+              -0.4189925193786621,
+              0.7723569869995117
+            ],
+            "closest_ee_minus_button": [
+              0.0017687939093619515,
+              0.0016098582325773103,
+              0.03507913847852573
+            ],
+            "button_min_z_position": [
+              0.11520509421825406,
+              -0.4189944565296173,
+              0.7690593004226685
+            ],
+            "min_active_finger_to_button": 0.14398148895516139,
+            "closest_active_finger": [
+              -0.009334973990917206,
+              -0.4824365973472595,
+              0.8105760812759399
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+            "closest_active_finger_button": [
+              0.1152280494570732,
+              -0.41899508237838745,
+              0.7760812044143677
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1245630234479904,
+              -0.06344151496887207,
+              0.034494876861572266
+            ],
+            "min_contact_pad_to_button": 0.021102782344390225,
+            "closest_contact_pad": [
+              0.11520509421825406,
+              -0.4189944565296173,
+              0.7901620827670587
+            ],
+            "closest_contact_pad_button": [
+              0.11520509421825406,
+              -0.4189944565296173,
+              0.7690593004226685
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021102782344390225
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "53ba6aebd0e5b9cf4cb6d2ef7bd55fdfb6d0aa7a38707d35171a0fc20394c597",
+    "visual_seed": 1952539993700969485,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..97aac7ec34570f66e796cae3c7991c2f4c4616dd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_7_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+            "active_arm": null,
+            "object_position": [
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+              0.26504188614026203,
+              1.1591974031021965
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+            "lift_margin": 0.29809047785491716,
+            "gripper_z": 1.1519177404513525,
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+            "gripper_position": [
+              0.21706473370983137,
+              0.2598214792853104,
+              1.1519177404513525
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+              0.005491598947213294,
+              0.00522040685495162,
+              0.00727966265084401
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+            "object_to_gripper_z": 0.00727966265084401,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22255633265704466,
+              0.2404527461175242,
+              1.1591974031021965
+            ],
+            "finger_b": [
+              0.21132698366442726,
+              0.26504188614026203,
+              1.1591974031021965
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+            "finger_midpoint": [
+              0.21694165816073596,
+              0.2527473161288931,
+              1.1591974031021965
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056146744963087025,
+              0.01229457001136891,
+              0.0
+            ],
+            "finger_gap": 0.02703190866098442,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.2091598192703836,
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+            "object_projection_between_fingers": 0.8274337999269388,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04786140916778697,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2686431863401381,
+              -0.35855482183962,
+              0.8515395844587581
+            ],
+            "target_position": [
+              0.2591108880631659,
+              -0.35981627303806457,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00961540272517094,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18774109893939983,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395844587581,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542534291696018,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08555270376065603,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15590973305000386,
+            "release_required_pad_clearance": 0.05277635188032802,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6013317917056725,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007366776466369629,
+            "max_z_decrease": 0.007366776466369629,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514059155908992,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007366776466369629,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021082774354093115,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007366776466369629,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007366796259781035,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11481081694364544,
+              -0.41607773303985596,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11481081694364544,
+              -0.41607773303985596,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11334649887101769,
+              -0.4143188000810619,
+              0.8078213244935049
+            ],
+            "closest_button": [
+              0.11480059474706646,
+              -0.41607278585433954,
+              0.7727546691894531
+            ],
+            "closest_ee_minus_button": [
+              -0.0014540958760487638,
+              0.001753985773277622,
+              0.03506665530405173
+            ],
+            "button_min_z_position": [
+              0.1147939711809158,
+              -0.4160749316215515,
+              0.769442081451416
+            ],
+            "min_active_finger_to_button": 0.14673865485688878,
+            "closest_active_finger": [
+              -0.01369321346282959,
+              -0.477963387966156,
+              0.8109010457992554
+            ],
+            "closest_active_finger_button": [
+              0.11481226980686186,
+              -0.4160767197608948,
+              0.776424765586853
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12850548326969147,
+              -0.06188666820526123,
+              0.034476280212402344
+            ],
+            "min_contact_pad_to_button": 0.021082774354093115,
+            "closest_contact_pad": [
+              0.1147939711809158,
+              -0.4160749316215515,
+              0.7905248558055091
+            ],
+            "closest_contact_pad_button": [
+              0.1147939711809158,
+              -0.4160749316215515,
+              0.769442081451416
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021082774354093115
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dec332cc1d0426d2f8572be7cf41ffbd34abfd9c310388c3f3d01e057f609273",
+    "visual_seed": 7514598773173440571,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..03082d1b45a7e4d96c7228ef4602ccf9da6a0ee8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_80_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.22516535304855245,
+              0.2649234093785283,
+              1.162069892451195
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+            "current_z": 1.162069892451195,
+            "required_z": 0.8611069252472796,
+            "initial_z": 0.7611069252472796,
+            "lift_margin": 0.30096296720391535,
+            "gripper_z": 1.1544614662102244,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21990895763237753,
+              0.25980242787702323,
+              1.1544614662102244
+            ],
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+              0.005256395416174925,
+              0.005120981501505084,
+              0.007608426240970578
+            ],
+            "object_to_gripper_xy": 0.0073385382951880835,
+            "object_to_gripper_z": 0.007608426240970578,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22516535304855245,
+              0.24063349676884574,
+              1.162069892451195
+            ],
+            "finger_b": [
+              0.21387414074537908,
+              0.2649234093785283,
+              1.162069892451195
+            ],
+            "finger_midpoint": [
+              0.21951974689696577,
+              0.252778453073687,
+              1.162069892451195
+            ],
+            "object_minus_finger_midpoint": [
+              0.005645606151586685,
+              0.012144956304841303,
+              0.0
+            ],
+            "finger_gap": 0.026786028631757833,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013393014315878929,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162069892451195,
+            "object_top_z": 1.2120237928130606,
+            "finger_top_clearance": 0.049953900361865644,
+            "fingertip_min_top_clearance": 0.014986170108559693,
+            "object_projection_between_fingers": 0.8223093855364491,
+            "object_to_finger_line_xy": 0.010239015416278805,
+            "fingertip_xy_max_dist": 0.055,
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+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "workbench"
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2777405724853864,
+              -0.3561124837589767,
+              0.8515395250839091
+            ],
+            "target_position": [
+              0.2686745638002801,
+              -0.3574092056259854,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009158275005632977,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18726614725180427,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395250839091,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546707953613163,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08536453644499735,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15535240101597703,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.4205785557140953,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007725656032562256,
+            "max_z_decrease": 0.007725656032562256,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520572612337758,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007725656032562256,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02107597407419992,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007725656032562256,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00772567958710162,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12437448650598523,
+              -0.4136706590652466,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12437448650598523,
+              -0.4136706590652466,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12631134090183585,
+              -0.41201348096563156,
+              0.80778424964876
+            ],
+            "closest_button": [
+              0.12436260282993314,
+              -0.4136680662631988,
+              0.7726714611053467
+            ],
+            "closest_ee_minus_button": [
+              0.0019487380719027114,
+              0.0016545852975672348,
+              0.035112788543413376
+            ],
+            "button_min_z_position": [
+              0.12435548752546308,
+              -0.4136689305305481,
+              0.7690832018852234
+            ],
+            "min_active_finger_to_button": 0.14377458898524487,
+            "closest_active_finger": [
+              -0.0015862584114074707,
+              -0.4739098846912384,
+              0.8104109764099121
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+            "closest_active_finger_button": [
+              0.12437348067760463,
+              -0.41366991400718683,
+              0.7761119604110718
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1259597390890121,
+              -0.06023997068405157,
+              0.03429901599884033
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+            "min_contact_pad_to_button": 0.02107597407419992,
+            "closest_contact_pad": [
+              0.12435548752546308,
+              -0.4136689305305481,
+              0.7901591759594233
+            ],
+            "closest_contact_pad_button": [
+              0.12435548752546308,
+              -0.4136689305305481,
+              0.7690832018852234
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02107597407419992
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7ac333206924a253c53b0f60eedf014650c9cd278c941e4a5ff66986cc1d9d90",
+    "visual_seed": 6150199144957849048,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8691f1eef5b783c029532c465554c08068ea06d5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_81_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+            "active_arm": null,
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+              0.26241129583161715,
+              1.1588648121248466
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+            "current_z": 1.1588648121248466,
+            "required_z": 0.8611069252472794,
+            "initial_z": 0.7611069252472794,
+            "lift_margin": 0.2977578868775672,
+            "gripper_z": 1.1515563763316583,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21198003050171105,
+              0.25721121211244835,
+              1.1515563763316583
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+              0.00519617155123589,
+              0.005200083719168802,
+              0.007308435793188295
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+            "object_to_gripper_xy": 0.007351263121140314,
+            "object_to_gripper_z": 0.007308435793188295,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21717620205294694,
+              0.23814317332345797,
+              1.1588648121248466
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+            "finger_b": [
+              0.20583439681439172,
+              0.26241129583161715,
+              1.1588648121248466
+            ],
+            "finger_midpoint": [
+              0.21150529943366933,
+              0.2502772345775376,
+              1.1588648121248466
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+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
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+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2694885352210107,
+              -0.35903803151050445,
+              0.8515395621680706
+            ],
+            "target_position": [
+              0.25984893948517246,
+              -0.3604257544405303,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009738972270260864,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18686210370674733,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395621680706,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561369285898487,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08512297517554678,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15450656543741897,
+            "release_required_pad_clearance": 0.05256148758777339,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.18974556920196345,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007733404636383057,
+            "max_z_decrease": 0.007733404636383057,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512487467503435,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007733404636383057,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021211937563249444,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007733404636383057,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007733431305461912,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11554886400699614,
+              -0.41668722033500666,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11554886400699614,
+              -0.41668722033500666,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1166345956973038,
+              -0.41794879416346087,
+              0.8075567696424651
+            ],
+            "closest_button": [
+              0.11553724855184554,
+              -0.4166819453239441,
+              0.7724719047546387
+            ],
+            "closest_ee_minus_button": [
+              0.001097347145458269,
+              -0.0012668488395167765,
+              0.03508486488782647
+            ],
+            "button_min_z_position": [
+              0.11552879214286803,
+              -0.4166841208934784,
+              0.7690754532814026
+            ],
+            "min_active_finger_to_button": 0.1450254717892132,
+            "closest_active_finger": [
+              -0.02451864629983902,
+              -0.4017770290374756,
+              0.8106294870376587
+            ],
+            "closest_active_finger_button": [
+              0.11555007845163344,
+              -0.4166845977306366,
+              0.7761200070381165
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14006872475147247,
+              0.01490756869316101,
+              0.034509479999542236
+            ],
+            "min_contact_pad_to_button": 0.021211937563249444,
+            "closest_contact_pad": [
+              0.11552879214286803,
+              -0.41900587766269193,
+              0.7901599438062363
+            ],
+            "closest_contact_pad_button": [
+              0.11552879214286803,
+              -0.4166841208934784,
+              0.7690754532814026
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023217567692135344,
+              0.021084490524833743
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "abfacf9a37af9317f02c2be3dbaee8abcffa9be4874393ee20057b71781b3516",
+    "visual_seed": 7779792908347667770,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c21172084675abd5a0ce1ecccb9327e6d768c30f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_82_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21867717011182758,
+              0.2640116924893531,
+              1.1596649478138579
+            ],
+            "current_z": 1.1596649478138579,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
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+                "ridgebase_ur16e",
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+                "right_inner_finger",
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+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
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+                "ur5e",
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+                "wrist_2_joint",
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+                "base_link",
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+              -0.3550766831028058,
+              0.8515396033667465
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+              0.26109729878839005,
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+              0.8084375599031817
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+            "xy_dist": 0.009311588441432544,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18779325256905827,
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+            "gripper_away_ok": true,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
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+            "max_z_decrease": 0.007592380046844482,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035117345177402226,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007592380046844482,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021157239496371147,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007592380046844482,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007592400435308479,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11679722368717194,
+              -0.4124083220958709,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11679722368717194,
+              -0.4124083220958709,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11822855516215164,
+              -0.4131717880307973,
+              0.8074082052492995
+            ],
+            "closest_button": [
+              0.11678547412157056,
+              -0.4124045073986053,
+              0.7723289132118225
+            ],
+            "closest_ee_minus_button": [
+              0.001443081040581079,
+              -0.0007672806321920023,
+              0.03507929203747695
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+            "button_min_z_position": [
+              0.1167798340320587,
+              -0.412405639886856,
+              0.7692164778709412
+            ],
+            "min_active_finger_to_button": 0.1447492455850715,
+            "closest_active_finger": [
+              -0.023187994956970215,
+              -0.39972543716430664,
+              0.8108367919921875
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+            "closest_active_finger_button": [
+              0.11679967492818831,
+              -0.4124054610729217,
+              0.7762678265571594
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13998766988515854,
+              0.012680023908615057,
+              0.034568965435028076
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+            "min_contact_pad_to_button": 0.021157239496371147,
+            "closest_contact_pad": [
+              0.1167798340320587,
+              -0.41400142844872095,
+              0.7903134502123135
+            ],
+            "closest_contact_pad_button": [
+              0.1167798340320587,
+              -0.412405639886856,
+              0.7692164778709412
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015957885618649303,
+              0.02109697234137231
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b2b5c660f312c4e6775563a0f9acd75d21ae11151962d1246e1c1bce22a1a5bc",
+    "visual_seed": 1858250384513180657,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ede59f1707ac38f4c706994da7abfc8d6689688b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_83_success.json
@@ -0,0 +1,700 @@
+{
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+  "success": true,
+  "passed_steps": 3,
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+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9a580902e6441e0ef2ba6e0b4d02699bde609a8cf7c90f36350b09a25d67e713",
+    "visual_seed": 8347612157158271266,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9abec22e56d988cb94f4727cc7d377b4d1d149b1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_84_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
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+              0.2668577162936785,
+              1.1595233934870963
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+            "gripper_z": 1.1522304903191771,
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+              0.21652627367592428,
+              0.2615294906907379,
+              1.1522304903191771
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+              0.005328225602940606,
+              0.007292903167919196
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+            "object_to_gripper_z": 0.007292903167919196,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.22181323261978064,
+              0.24269556944906046,
+              1.1595233934870963
+            ],
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+              0.2668577162936785,
+              1.1595233934870963
+            ],
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+              0.2547766428713695,
+              1.1595233934870963
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+              0.005873543882651822,
+              0.012081073422309019,
+              0.0
+            ],
+            "finger_gap": 0.026866399295525863,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_projection_between_fingers": 0.8088204227877205,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790863962017687,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2763609178937469,
+              -0.35679877437262214,
+              0.8515396128262348
+            ],
+            "target_position": [
+              0.26710933923479163,
+              -0.35821021937132796,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0093586262168765,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18485120597218027,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396128262348,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.007684230804443359,
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+            "min_ee_to_button": 0.035105134730374826,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007684230804443359,
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+            "physical_press_ok": true,
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+            "contacted_z_stable_frames": 0,
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+            "contact_point_distance": 0.02108069310169651,
+            "contact_point_source": "active_contact_pad_positions",
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+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007684230804443359,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007684255267764109,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.414471685886383,
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+              -0.4144673645496368,
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+              -0.41447329521179194,
+              0.7767248153686523
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.014974683523178045,
+              0.034492552280426025
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+            "min_contact_pad_to_button": 0.02108069310169651,
+            "closest_contact_pad": [
+              0.12279036641120908,
+              -0.4157257060526595,
+              0.7901677304564731
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+            "closest_contact_pad_button": [
+              0.12279036641120908,
+              -0.4144673645496368,
+              0.7691246271133423
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012583415030227307,
+              0.021043103343130865
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "502d6185530f6da7f4c2fa7f9d73cef8f6fcaf9e47e5ec3f9a1dae569406dcaf",
+    "visual_seed": 2453247183935448646,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a41fe3e51040ed06f536bc5e0d0b3a6d89df79d8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_85_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              0.2193503250986033,
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+              1.15286650012434
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+              0.005129740927665716,
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+              0.23809938037903955,
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+              0.25027419149789587,
+              1.1604829834140846
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+              0.012174811118856377,
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
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+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              -0.3566915360741156,
+              0.8515395962490944
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+              -0.3579325607906956,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1855736542770545,
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+            "object_upright_reference_source": "scene_initial",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
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+            "failed_keys": []
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
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+          "metrics": {
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+            "contact_point_seen_ok": true,
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+            "contact_point_stable_frames": 0,
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+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.016801148653030396,
+              0.03438848257064819
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+            "min_contact_pad_to_button": 0.021218587295180943,
+            "closest_contact_pad": [
+              0.12022308260202405,
+              -0.41665655785309313,
+              0.790163764194401
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+            "closest_contact_pad_button": [
+              0.12022308260202405,
+              -0.41419190168380743,
+              0.7690888047218323
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
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+              -0.002464656169285706,
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1b8ddfc90fcf76c24699fef4c27bc2a9d569b9a8878091a77faac1c82ca86871",
+    "visual_seed": 3265979496369578906,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..120fc62e085a02815129c911db0246b2286007b0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_86_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+            "object_position": [
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+              0.2598841350178256,
+              1.1604457139782829
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+            "required_z": 0.8611068656426344,
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+            "lift_margin": 0.2993388483356485,
+            "gripper_z": 1.1530833149559365,
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+            "gripper_position": [
+              0.21549248731081108,
+              0.2547254309902166,
+              1.1530833149559365
+            ],
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+              0.005252117679144325,
+              0.005158704027608985,
+              0.0073623990223463665
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+            "object_to_gripper_z": 0.0073623990223463665,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23589722610447358,
+              1.1604457139782829
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+            "finger_b": [
+              0.20902271798325572,
+              0.2598841350178256,
+              1.1604457139782829
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+            "finger_midpoint": [
+              0.21488366148660556,
+              0.2478906805611496,
+              1.1604457139782829
+            ],
+            "object_minus_finger_midpoint": [
+              0.005860943503349841,
+              0.01199345445667599,
+              0.0
+            ],
+            "finger_gap": 0.02669783575901389,
+            "fingertip_max_gap": 0.09081020772671922,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013348917879506933,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.210386324927306,
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+            "object_projection_between_fingers": 0.807228446473243,
+            "object_to_finger_line_xy": 0.010531634041810992,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790510386335961,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3372812572122241,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26892351179160445,
+              -0.35318876924086867,
+              0.8515395017143158
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+            "target_position": [
+              0.2593325199155069,
+              -0.3545474998775417,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009686757667579158,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18586049167102225,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395017143158,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566499371113576,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08556073921372344,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.007413387298583984,
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+            "min_ee_to_button": 0.035105671549929864,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007413387298583984,
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+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
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+            "contact_point_source": "active_contact_pad_positions",
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+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007413387298583984,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007413409400614274,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.4108089506626129,
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+            "min_active_finger_to_button": 0.14683627879630073,
+            "closest_active_finger": [
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+            "closest_active_finger_button": [
+              0.11503379791975019,
+              -0.41080838441848755,
+              0.7763757705688477
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14222166687250135,
+              0.01173904538154602,
+              0.03458446264266968
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+            "min_contact_pad_to_button": 0.021225518142585525,
+            "closest_contact_pad": [
+              0.11501480638980863,
+              -0.4133593277468791,
+              0.790466718963189
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+            "closest_contact_pad_button": [
+              0.11501480638980863,
+              -0.4108048975467682,
+              0.7693954706192017
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025544302001109243,
+              0.021071248343987325
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d1c7b30ab2a278943a3234c389d0730b6ad872a9531b7c1f6aee5d82e18f034e",
+    "visual_seed": 4215468700808209831,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..75d0791f17b2c36cec44d56a09c195aa3f8c147d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_87_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.26167269035519825,
+              1.1625055392929449
+            ],
+            "current_z": 1.1625055392929449,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.30139879285960003,
+            "gripper_z": 1.1551619803746849,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.2155671890848505,
+              0.2565239796512669,
+              1.1551619803746849
+            ],
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+              0.005273674307494758,
+              0.0051487107039313584,
+              0.007343558918259996
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+            "object_to_gripper_xy": 0.007370268829174935,
+            "object_to_gripper_z": 0.007343558918259996,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
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+              0.23746004586937766,
+              1.1625055392929449
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+            "finger_b": [
+              0.20939931683954116,
+              0.26167269035519825,
+              1.1625055392929449
+            ],
+            "finger_midpoint": [
+              0.2151200901159432,
+              0.24956636811228794,
+              1.1625055392929449
+            ],
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+              0.0057207732764020525,
+              0.012106322242910306,
+              0.0
+            ],
+            "finger_gap": 0.026779864460387423,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.817462240877047,
+            "object_to_finger_line_xy": 0.010344716249807498,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047872920255438656,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3286613673519242,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 362,
+            "max_stable_success_frames": 362,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26879603921377876,
+              -0.354760600956038,
+              0.8515395861083871
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+            "target_position": [
+              0.2593664053941434,
+              -0.3561516057453021,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009531678146903954,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18566968757943145,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395861083871,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566470374004074,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08518962799600129,
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+            "release_gap_missing_size": false,
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+            "release_required_pad_clearance": 0.052594813998000645,
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+            "force_virtual_attach": false,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+            },
+            "failed_keys": []
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+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
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+          "metrics": {
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+            "min_ee_to_button": 0.03508697041018821,
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+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075722336769104,
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+            "physical_press_ok": true,
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+            "contacted_z_stable_frames": 0,
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+            "contact_point_distance": 0.0211722646278926,
+            "contact_point_source": "active_contact_pad_positions",
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+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0075722336769104,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007572256487193825,
+            "max_button_displacement": 0.12,
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+              -0.41241177916526794,
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.013582289218902588,
+              0.034556686878204346
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+            "min_contact_pad_to_button": 0.0211722646278926,
+            "closest_contact_pad": [
+              0.11504790186882013,
+              -0.414315670245888,
+              0.7903230129364989
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+            "closest_contact_pad_button": [
+              0.11504790186882013,
+              -0.4124106764793396,
+              0.7692366242408752
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019049937665484018,
+              0.021086388695623626
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f932229d9b7393ebad72e5d1d5b15b5199ab64c3c5b70ba718cbd92e0fa398e8",
+    "visual_seed": 3762297281048168216,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8077d9eb528684466b8abd91ee41f565316b833
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_88_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.22091496891899237,
+              0.2615157498766414,
+              1.1594996204529826
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+            "current_z": 1.1594996204529826,
+            "required_z": 0.8611071636658582,
+            "initial_z": 0.7611071636658582,
+            "lift_margin": 0.29839245678712445,
+            "gripper_z": 1.1520344128087372,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21572395060923247,
+              0.25645846687651075,
+              1.1520344128087372
+            ],
+            "object_minus_gripper": [
+              0.005191018309759904,
+              0.005057283000130641,
+              0.0074652076442454085
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+            "object_to_gripper_xy": 0.0072472603399955865,
+            "object_to_gripper_z": 0.0074652076442454085,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22091496891899237,
+              0.23714494955499918,
+              1.1594996204529826
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+            "finger_b": [
+              0.2099180885172073,
+              0.2615157498766414,
+              1.1594996204529826
+            ],
+            "finger_midpoint": [
+              0.21541652871809985,
+              0.2493303497158203,
+              1.1594996204529826
+            ],
+            "object_minus_finger_midpoint": [
+              0.005498440200892518,
+              0.012185400160821092,
+              0.0
+            ],
+            "finger_gap": 0.02673700220459505,
+            "fingertip_max_gap": 0.09075776538013722,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013368501102297507,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1594996204529826,
+            "object_top_z": 1.2094718432372404,
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+            "fingertip_min_top_clearance": 0.01499166683527735,
+            "object_projection_between_fingers": 0.8308338053941151,
+            "object_to_finger_line_xy": 0.010023665868824472,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04787888269006861,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.31567521749936395,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
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+          }
+        },
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+      },
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27737938232750314,
+              -0.35505325049817704,
+              0.8515395649224361
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+            "target_position": [
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+              -0.3561656321472493,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00868620434511314,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.185255159181775,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395649224361,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589556752009649,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0854174433232028,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1523277955334809,
+            "release_required_pad_clearance": 0.0527087216616014,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
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+            "z_decrease": 0.007803022861480713,
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510656969140913,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007803022861480713,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
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+            "contact_point_distance": 0.021183116284083196,
+            "contact_point_source": "active_contact_pad_positions",
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+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007803022861480713,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007803046732478281,
+            "max_button_displacement": 0.12,
+            "button_start": [
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+              -0.4124270975589752,
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+            "button_final": [
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+            "closest_ee": [
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+            "closest_button": [
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+            "button_min_z_position": [
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+              0.7690058350563049
+            ],
+            "min_active_finger_to_button": 0.14706161345876725,
+            "closest_active_finger": [
+              -0.017957493662834167,
+              -0.4000608026981354,
+              0.8110740780830383
+            ],
+            "closest_active_finger_button": [
+              0.12446495145559311,
+              -0.41242724657058716,
+              0.7765771746635437
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14242244511842728,
+              0.012366443872451782,
+              0.03449690341949463
+            ],
+            "min_contact_pad_to_button": 0.021183116284083196,
+            "closest_contact_pad": [
+              0.1244458332657814,
+              -0.4147135955249187,
+              0.7900647085491822
+            ],
+            "closest_contact_pad_button": [
+              0.1244458332657814,
+              -0.41242268681526184,
+              0.7690058350563049
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002290908709656869,
+              0.021058873492877273
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2970775bcb7f33c230ceec045a7b1767062d1ee067174ac2160a9fd5547e9dcc",
+    "visual_seed": 2653573099536299983,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..125d27473910d11abd437cb7a3bdb6f8413af3f5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_89_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.22117394139805135,
+              0.2644934770189664,
+              1.1614894551670347
+            ],
+            "current_z": 1.1614894551670347,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.3003827087336898,
+            "gripper_z": 1.1539787301830513,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2159627741434242,
+              0.2593495351890974,
+              1.1539787301830513
+            ],
+            "object_minus_gripper": [
+              0.0052111672546271415,
+              0.005143941829868992,
+              0.007510724983983419
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+            "object_to_gripper_xy": 0.007322322152485107,
+            "object_to_gripper_z": 0.007510724983983419,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22117394139805135,
+              0.24053623439508784,
+              1.1614894551670347
+            ],
+            "finger_b": [
+              0.20947216717128184,
+              0.2644934770189664,
+              1.1614894551670347
+            ],
+            "finger_midpoint": [
+              0.21532305428466658,
+              0.25251485570702714,
+              1.1614894551670347
+            ],
+            "object_minus_finger_midpoint": [
+              0.005850887113384773,
+              0.011978621311939275,
+              0.0
+            ],
+            "finger_gap": 0.026662351625347525,
+            "fingertip_max_gap": 0.09080491792676157,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013331175812673757,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1614894551670347,
+            "object_top_z": 1.2114409034827887,
+            "finger_top_clearance": 0.04995144831575393,
+            "fingertip_min_top_clearance": 0.014985434494726212,
+            "object_projection_between_fingers": 0.8073777169839741,
+            "object_to_finger_line_xy": 0.010514535560098506,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790245896338079,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.32358093787869413,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 359,
+            "max_stable_success_frames": 359,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
+        "attach_used": false,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26985274737341763,
+              -0.35835476241111275,
+              0.8515395679606328
+            ],
+            "target_position": [
+              0.26084781726258865,
+              -0.35933298002323777,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009057906822085663,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1850518693820031,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395679606328,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751615767914926,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0868940296952825,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15403493833919277,
+            "release_required_pad_clearance": 0.05344701484764125,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9077619037540814,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076277852058410645,
+            "max_z_decrease": 0.0076277852058410645,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517383675220215,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076277852058410645,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021247609641557932,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0076277852058410645,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007627810769548756,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11654774099588393,
+              -0.4155944287776947,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11654774099588393,
+              -0.4155944287776947,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11833631460897068,
+              -0.4170216953804656,
+              0.807780259485077
+            ],
+            "closest_button": [
+              0.11653609573841095,
+              -0.41559135913848877,
+              0.7726816534996033
+            ],
+            "closest_ee_minus_button": [
+              0.0018002188705597277,
+              -0.001430336241976804,
+              0.03509860598547376
+            ],
+            "button_min_z_position": [
+              0.1165282055735588,
+              -0.4155915379524231,
+              0.7691810727119446
+            ],
+            "min_active_finger_to_button": 0.14429189741237405,
+            "closest_active_finger": [
+              -0.02258247137069702,
+              -0.39892640709877014,
+              0.8112289905548096
+            ],
+            "closest_active_finger_button": [
+              0.11654604971408844,
+              -0.4155948162078857,
+              0.7767968773841858
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13912852108478546,
+              0.016668409109115545,
+              0.03443211317062378
+            ],
+            "min_contact_pad_to_button": 0.021247609641557932,
+            "closest_contact_pad": [
+              0.1165282055735588,
+              -0.41826147619401294,
+              0.7902602649466134
+            ],
+            "closest_contact_pad_button": [
+              0.1165282055735588,
+              -0.4155915379524231,
+              0.7691810727119446
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002669938241589842,
+              0.02107919223466881
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bd06b351337c6b3996fe28cdab0a4793dc9bad51eb75da5e6a6ab59d96d6224d",
+    "visual_seed": 3260750843683713271,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2a08d12a2629c32d2c495340853fef2058ba955
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_8_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2187385847473557,
+              0.2593961731331824,
+              1.1629418322339937
+            ],
+            "current_z": 1.1629418322339937,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.3018352050099381,
+            "gripper_z": 1.1556251981456112,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21340873077552117,
+              0.2542655884652095,
+              1.1556251981456112
+            ],
+            "object_minus_gripper": [
+              0.005329853971834525,
+              0.005130584667972893,
+              0.007316634088382568
+            ],
+            "object_to_gripper_xy": 0.007397989077872364,
+            "object_to_gripper_z": 0.007316634088382568,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2187385847473557,
+              0.2349782328904907,
+              1.1629418322339937
+            ],
+            "finger_b": [
+              0.2075673478844676,
+              0.2593961731331824,
+              1.1629418322339937
+            ],
+            "finger_midpoint": [
+              0.21315296631591163,
+              0.24718720301183655,
+              1.1629418322339937
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055856184314440616,
+              0.012208970121345863,
+              0.0
+            ],
+            "finger_gap": 0.026852045336294476,
+            "fingertip_max_gap": 0.09064402693688653,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013426022668147243,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1629418322339937,
+            "object_top_z": 1.2128800885525255,
+            "finger_top_clearance": 0.04993825631853177,
+            "fingertip_min_top_clearance": 0.01498147689555953,
+            "object_projection_between_fingers": 0.826919645151543,
+            "object_to_finger_line_xy": 0.010158577893738925,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04782201346844327,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.26159052818515166,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27245658551746793,
+              -0.3590286007956204,
+              0.8515395648086332
+            ],
+            "target_position": [
+              0.26370014811076387,
+              -0.36000056259715124,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008810215990607797,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18345546875021676,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395648086332,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542739530789115,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08537775427301718,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15170301922766088,
+            "release_required_pad_clearance": 0.05268887713650859,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.43340963284799733,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076035261154174805,
+            "max_z_decrease": 0.0076035261154174805,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035118281593613784,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076035261154174805,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.0210754740946961,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0076035261154174805,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007603546029838083,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11940007656812666,
+              -0.41626203060150146,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11940007656812666,
+              -0.41626203060150146,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11787432997880334,
+              -0.41563846818437344,
+              0.8067605365098321
+            ],
+            "closest_button": [
+              0.11938732117414473,
+              -0.416255921125412,
+              0.7716802954673767
+            ],
+            "closest_ee_minus_button": [
+              -0.0015129911953413872,
+              0.0006174529410385432,
+              0.03508024104245544
+            ],
+            "button_min_z_position": [
+              0.1193830519914627,
+              -0.4162584245204925,
+              0.7692053318023682
+            ],
+            "min_active_finger_to_button": 0.14719848599175414,
+            "closest_active_finger": [
+              -0.009901851415634155,
+              -0.47761911153793335,
+              0.8110655546188354
+            ],
+            "closest_active_finger_button": [
+              0.11940277367830275,
+              -0.41626328229904175,
+              0.7766683101654053
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12930462509393692,
+              -0.0613558292388916,
+              0.034397244453430176
+            ],
+            "min_contact_pad_to_button": 0.0210754740946961,
+            "closest_contact_pad": [
+              0.1193830519914627,
+              -0.41689016148482716,
+              0.7902713356171428
+            ],
+            "closest_contact_pad_button": [
+              0.1193830519914627,
+              -0.4162584245204925,
+              0.7692053318023682
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006317369643346615,
+              0.021066003814774636
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7ffb2ff487baada467fb3ed5535d8b42847e7babfceb35768da9cdeb86033844",
+    "visual_seed": 5014709718792430141,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a97e87a22f98aa64ca715bd0cc78c56bff2ae09b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_90_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21953147252975613,
+              0.26079475413349823,
+              1.160245194611555
+            ],
+            "current_z": 1.160245194611555,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.29913862699214444,
+            "gripper_z": 1.1530933482625905,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21414241683047927,
+              0.25557096613246144,
+              1.1530933482625905
+            ],
+            "object_minus_gripper": [
+              0.005389055699276862,
+              0.005223788001036789,
+              0.007151846348964597
+            ],
+            "object_to_gripper_xy": 0.007505323604594566,
+            "object_to_gripper_z": 0.007151846348964597,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21953147252975613,
+              0.23634923248972395,
+              1.160245194611555
+            ],
+            "finger_b": [
+              0.20820207000507376,
+              0.26079475413349823,
+              1.160245194611555
+            ],
+            "finger_midpoint": [
+              0.21386677126741493,
+              0.2485719933116111,
+              1.160245194611555
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056647012623411985,
+              0.01222276082188714,
+              0.0
+            ],
+            "finger_gap": 0.02694325314438693,
+            "fingertip_max_gap": 0.09079420442868663,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01347162657219347,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.160245194611555,
+            "object_top_z": 1.2102182438830955,
+            "finger_top_clearance": 0.04997304927154045,
+            "fingertip_min_top_clearance": 0.014991914781462133,
+            "object_projection_between_fingers": 0.823187098344002,
+            "object_to_finger_line_xy": 0.010279128253146785,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04789710221434332,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2645964481759432,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2758557559933147,
+              -0.3571661059094958,
+              0.8515395095330155
+            ],
+            "target_position": [
+              0.26686054668814463,
+              -0.3583785545109204,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009076553423790023,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18623415725776513,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395095330155,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549899592561878,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15416480285666484,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007708191871643066,
+            "max_z_decrease": 0.007708191871643066,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514212182253718,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007708191871643066,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021073814844745575,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007708191871643066,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0077082146990729485,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12256047129631044,
+              -0.4146400094032288,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12256047129631044,
+              -0.4146400094032288,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12309720752594214,
+              -0.4130904821811907,
+              0.8078347224082597
+            ],
+            "closest_button": [
+              0.12255019694566728,
+              -0.4146365225315094,
+              0.7727308869361877
+            ],
+            "closest_ee_minus_button": [
+              0.0005470105802748565,
+              0.0015460403503186892,
+              0.035103835472071965
+            ],
+            "button_min_z_position": [
+              0.12254180014133455,
+              -0.41463819146156317,
+              0.7691006660461426
+            ],
+            "min_active_finger_to_button": 0.14506659060871024,
+            "closest_active_finger": [
+              -0.0048708245158195496,
+              -0.4748612642288208,
+              0.8110186457633972
+            ],
+            "closest_active_finger_button": [
+              0.12256266176700593,
+              -0.4146383106708527,
+              0.7766934633255005
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12743348628282547,
+              -0.060222953557968084,
+              0.03432518243789673
+            ],
+            "min_contact_pad_to_button": 0.021073814844745575,
+            "closest_contact_pad": [
+              0.12254180014133455,
+              -0.41463819146156317,
+              0.7901744808908882
+            ],
+            "closest_contact_pad_button": [
+              0.12254180014133455,
+              -0.41463819146156317,
+              0.7691006660461426
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021073814844745575
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2502fb1334f7ea5bcd1ae0fdfd6a9f287edf0a8e2302915e1a8e5cc68239d639",
+    "visual_seed": 7027852729502182308,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f0cf39fa0ad3bace5d8e341aa71cc3670548211
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_91_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.22119254666801919,
+              0.2598537844037348,
+              1.161294917114557
+            ],
+            "current_z": 1.161294917114557,
+            "required_z": 0.8611068060379901,
+            "initial_z": 0.7611068060379901,
+            "lift_margin": 0.30018811107656695,
+            "gripper_z": 1.1538425785970383,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21598909300595895,
+              0.2547182310838402,
+              1.1538425785970383
+            ],
+            "object_minus_gripper": [
+              0.005203453662060237,
+              0.005135553319894626,
+              0.007452338517518697
+            ],
+            "object_to_gripper_xy": 0.007310939605460354,
+            "object_to_gripper_z": 0.007452338517518697,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22119254666801919,
+              0.23590060920017034,
+              1.161294917114557
+            ],
+            "finger_b": [
+              0.2095041706406757,
+              0.2598537844037348,
+              1.161294917114557
+            ],
+            "finger_midpoint": [
+              0.21534835865434743,
+              0.24787719680195258,
+              1.161294917114557
+            ],
+            "object_minus_finger_midpoint": [
+              0.005844188013671758,
+              0.011976587601782218,
+              0.0
+            ],
+            "finger_gap": 0.02665281854681102,
+            "fingertip_max_gap": 0.09082284351213737,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013326409273405504,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161294917114557,
+            "object_top_z": 1.211238124572553,
+            "finger_top_clearance": 0.049943207457995964,
+            "fingertip_min_top_clearance": 0.014982962237398822,
+            "object_projection_between_fingers": 0.8076810565228547,
+            "object_to_finger_line_xy": 0.010504469474265045,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04791142175606869,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.35293886131762,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26969387171804926,
+              -0.3566169346659963,
+              0.851539559096781
+            ],
+            "target_position": [
+              0.26034824646800603,
+              -0.35802716778654936,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009451426811257145,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18698606385558006,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539559096781,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588855123046989,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852853816014391,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15414331609626286,
+            "release_required_pad_clearance": 0.05264269080071955,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.34491702905514404,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007410526275634766,
+            "max_z_decrease": 0.007410526275634766,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035094906755846145,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007410526275634766,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02106101108849574,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007410526275634766,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007410545815120377,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11604817211627959,
+              -0.41428864002227783,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11604817211627959,
+              -0.41428864002227783,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11510899835554522,
+              -0.41385054344563743,
+              0.8077457757564667
+            ],
+            "closest_button": [
+              0.11603789776563644,
+              -0.4142853021621704,
+              0.7726658582687378
+            ],
+            "closest_ee_minus_button": [
+              -0.0009288994100912218,
+              0.00043475871653297915,
+              0.03507991748772887
+            ],
+            "button_min_z_position": [
+              0.11603134870529175,
+              -0.4142860770225525,
+              0.7693983316421509
+            ],
+            "min_active_finger_to_button": 0.14683079502448604,
+            "closest_active_finger": [
+              -0.012657880783081055,
+              -0.4760069251060486,
+              0.8107287883758545
+            ],
+            "closest_active_finger_button": [
+              0.11604865640401839,
+              -0.414287269115448,
+              0.7763108611106873
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12870653718709946,
+              -0.061719655990600586,
+              0.034417927265167236
+            ],
+            "min_contact_pad_to_button": 0.02106101108849574,
+            "closest_contact_pad": [
+              0.11603134870529175,
+              -0.41498543376456826,
+              0.7904477280282028
+            ],
+            "closest_contact_pad_button": [
+              0.11603134870529175,
+              -0.4142860770225525,
+              0.7693983316421509
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006993567420157665,
+              0.021049396386051966
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4969dad6bdf7b7b5a6fc868310cd9b79a388ccd23dd5ca30d859a588358b1851",
+    "visual_seed": 544416953760888638,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b303b492a5f9985558b12fc99d22a680e42edad4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_92_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.22001649596275027,
+              0.2646330443126655,
+              1.1609751847186986
+            ],
+            "current_z": 1.1609751847186986,
+            "required_z": 0.8611069252472795,
+            "initial_z": 0.7611069252472795,
+            "lift_margin": 0.29986825947141915,
+            "gripper_z": 1.1536906880353346,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21457996857075343,
+              0.2594812210124179,
+              1.1536906880353346
+            ],
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+              0.005436527391996848,
+              0.005151823300247604,
+              0.007284496683364061
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+            "object_to_gripper_xy": 0.007489800624910264,
+            "object_to_gripper_z": 0.007284496683364061,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22001649596275027,
+              0.24002733654190833,
+              1.1609751847186986
+            ],
+            "finger_b": [
+              0.2089594990924726,
+              0.2646330443126655,
+              1.1609751847186986
+            ],
+            "finger_midpoint": [
+              0.21448799752761144,
+              0.2523301904272869,
+              1.1609751847186986
+            ],
+            "object_minus_finger_midpoint": [
+              0.005528498435138834,
+              0.012302853885378606,
+              0.0
+            ],
+            "finger_gap": 0.0269758787565712,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.014982851661669482,
+            "object_projection_between_fingers": 0.8319946269450332,
+            "object_to_finger_line_xy": 0.01008550031927893,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047832975080907225,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.19507271484753666,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27544940385008043,
+              -0.3578286459319503,
+              0.8515394938714463
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+            "target_position": [
+              0.26591484415341465,
+              -0.35920046842442577,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009632742369654917,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18408985871938405,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394938714463,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754933687501782,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857641076289501,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15212664679325044,
+            "release_required_pad_clearance": 0.052882053814475055,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8050238384683529,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007655978202819824,
+            "max_z_decrease": 0.007655978202819824,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516317783418269,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007655978202819824,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0212438649982927,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007655978202819824,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076560063517003285,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12161476910114288,
+              -0.415461927652359,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12161476910114288,
+              -0.415461927652359,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12314731901830264,
+              -0.41718767249164423,
+              0.8077375968723817
+            ],
+            "closest_button": [
+              0.12160414457321168,
+              -0.41545695066452026,
+              0.772650957107544
+            ],
+            "closest_ee_minus_button": [
+              0.0015431744450909585,
+              -0.001730721827123971,
+              0.035086639764837724
+            ],
+            "button_min_z_position": [
+              0.1215943843126297,
+              -0.41545799374580383,
+              0.7691528797149658
+            ],
+            "min_active_finger_to_button": 0.14457694986920103,
+            "closest_active_finger": [
+              -0.018270589411258698,
+              -0.4035121202468872,
+              0.8108923435211182
+            ],
+            "closest_active_finger_button": [
+              0.12161538749933244,
+              -0.4154597818851471,
+              0.7763718962669373
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13988597691059113,
+              0.011947661638259888,
+              0.03452044725418091
+            ],
+            "min_contact_pad_to_button": 0.0212438649982927,
+            "closest_contact_pad": [
+              0.1215943843126297,
+              -0.4180597831178528,
+              0.7902368189135401
+            ],
+            "closest_contact_pad_button": [
+              0.1215943843126297,
+              -0.41545799374580383,
+              0.7691528797149658
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002601789372048968,
+              0.02108393919857432
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "373de8f7f56ce0237156d0119dae12354d9eec60673e3e18c9055405540d7d20",
+    "visual_seed": 7423213148165537951,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e49368c60800a555fffffd4518d26060a2cdd5a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_93_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.22213604510249793,
+              0.26060465214853784,
+              1.1596249011194637
+            ],
+            "current_z": 1.1596249011194637,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.29851815468611864,
+            "gripper_z": 1.1523608108950358,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21683964363704408,
+              0.2553362582995268,
+              1.1523608108950358
+            ],
+            "object_minus_gripper": [
+              0.005296401465453848,
+              0.005268393849011066,
+              0.007264090224427866
+            ],
+            "object_to_gripper_xy": 0.007470464659682107,
+            "object_to_gripper_z": 0.007264090224427866,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22213604510249793,
+              0.23650006462531467,
+              1.1596249011194637
+            ],
+            "finger_b": [
+              0.21036140977562617,
+              0.26060465214853784,
+              1.1596249011194637
+            ],
+            "finger_midpoint": [
+              0.21624872743906204,
+              0.24855235838692624,
+              1.1596249011194637
+            ],
+            "object_minus_finger_midpoint": [
+              0.005887317663435893,
+              0.012052293761611599,
+              0.0
+            ],
+            "finger_gap": 0.02682672504696655,
+            "fingertip_max_gap": 0.09080658797448252,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013413362523483295,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1596249011194637,
+            "object_top_z": 1.2095321531941483,
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+            "fingertip_min_top_clearance": 0.014972175622405381,
+            "object_projection_between_fingers": 0.8073541691413678,
+            "object_to_finger_line_xy": 0.010579850029912958,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790329398724126,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4122690749906278,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 360,
+            "max_stable_success_frames": 360,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2701719084658212,
+              -0.3548861213919701,
+              0.8515396067083136
+            ],
+            "target_position": [
+              0.2615627423686303,
+              -0.3559403909917658,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008673478268726678,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18594644317216047,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396067083136,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547852037307781,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08615147293027127,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.153837915038491,
+            "release_required_pad_clearance": 0.05307573646513564,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1803331391176926,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007504642009735107,
+            "max_z_decrease": 0.007504642009735107,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035077894553602176,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007504642009735107,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02109329111761478,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007504642009735107,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007504662925855724,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11726266890764236,
+              -0.41220185160636896,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11726266890764236,
+              -0.41220185160636896,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11640221717248839,
+              -0.4128056255509063,
+              0.8075476918486778
+            ],
+            "closest_button": [
+              0.11725252121686934,
+              -0.41219764947891235,
+              0.7724853754043579
+            ],
+            "closest_ee_minus_button": [
+              -0.0008503040443809534,
+              -0.0006079760719939209,
+              0.035062316444319896
+            ],
+            "button_min_z_position": [
+              0.11724523454904556,
+              -0.41219869256019587,
+              0.7693042159080505
+            ],
+            "min_active_finger_to_button": 0.14699249751190407,
+            "closest_active_finger": [
+              -0.025009647011756897,
+              -0.399168998003006,
+              0.8108425140380859
+            ],
+            "closest_active_finger_button": [
+              0.11726453155279158,
+              -0.41220012307167053,
+              0.7762731313705444
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1422741785645485,
+              0.01303112506866455,
+              0.034569382667541504
+            ],
+            "min_contact_pad_to_button": 0.02109329111761478,
+            "closest_contact_pad": [
+              0.11724523454904556,
+              -0.41364861478791365,
+              0.7903476152462282
+            ],
+            "closest_contact_pad_button": [
+              0.11724523454904556,
+              -0.41219869256019587,
+              0.7693042159080505
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014499222277177815,
+              0.02104339933817767
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f8e47ce625af0aad81b0f6e8d94db68b1eadb8b69a35f6105462638a8b952da6",
+    "visual_seed": 52243491749996630,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cbda55aeb59643b745d0c41e86f93f964cf0deb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_94_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.21970212470157585,
+              0.2645825963797878,
+              1.1618865954041864
+            ],
+            "current_z": 1.1618865954041864,
+            "required_z": 0.8611068656426345,
+            "initial_z": 0.7611068656426345,
+            "lift_margin": 0.3007797297615519,
+            "gripper_z": 1.1545377153099474,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2144842905968421,
+              0.25937287247451896,
+              1.1545377153099474
+            ],
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+              0.005217834104733754,
+              0.005209723905268859,
+              0.007348880094238952
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+            "object_to_gripper_z": 0.007348880094238952,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.21970212470157585,
+              0.24036780363740265,
+              1.1618865954041864
+            ],
+            "finger_b": [
+              0.20825213729627182,
+              0.2645825963797878,
+              1.1618865954041864
+            ],
+            "finger_midpoint": [
+              0.21397713099892385,
+              0.25247520000859525,
+              1.1618865954041864
+            ],
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+              0.005724993702652004,
+              0.01210739637119257,
+              0.0
+            ],
+            "finger_gap": 0.026785413925087855,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.211827594186179,
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+            "object_projection_between_fingers": 0.8172685527982075,
+            "object_to_finger_line_xy": 0.010351121423689134,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047888555333313765,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2764795337154701,
+              -0.3614086491671257,
+              0.8515395813662446
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+            "target_position": [
+              0.26824027750535506,
+              -0.3625514117205669,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008318127743036117,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18633191187339074,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395813662446,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581200333395871,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08499580647252343,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15353580966311103,
+            "release_required_pad_clearance": 0.05249790323626172,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.06852803184206656,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007626533508300781,
+            "max_z_decrease": 0.007626533508300781,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035125499608226515,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007626533508300781,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02108093848705428,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007626533508300781,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007626555675222688,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12394020706415176,
+              -0.4188128709793091,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12394020706415176,
+              -0.4188128709793091,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12450493731982118,
+              -0.4174542986333165,
+              0.8078469428293812
+            ],
+            "closest_button": [
+              0.12392982840538025,
+              -0.4188089072704315,
+              0.7727522850036621
+            ],
+            "closest_ee_minus_button": [
+              0.0005751089144409305,
+              0.0013546086371150068,
+              0.03509465782571908
+            ],
+            "button_min_z_position": [
+              0.12392199039459229,
+              -0.41881036758422846,
+              0.7691823244094849
+            ],
+            "min_active_finger_to_button": 0.14511139847365317,
+            "closest_active_finger": [
+              -0.0022662580013275146,
+              -0.48162612318992615,
+              0.8108072280883789
+            ],
+            "closest_active_finger_button": [
+              0.12394083291292192,
+              -0.4188107252120971,
+              0.7764078974723816
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12620709091424942,
+              -0.06281539797782904,
+              0.034399330615997314
+            ],
+            "min_contact_pad_to_button": 0.02108093848705428,
+            "closest_contact_pad": [
+              0.12392199039459229,
+              -0.41881036758422846,
+              0.7902632628965391
+            ],
+            "closest_contact_pad_button": [
+              0.12392199039459229,
+              -0.41881036758422846,
+              0.7691823244094849
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108093848705428
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2d3bc088bed22c61f4407c877d13358d749a3e3ea8b2e47f4835680103150c36",
+    "visual_seed": 8953016820245064939,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c6f12fc97101fb140f5608a138f1ad44d6a3f2d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_95_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2252659437368914,
+              0.26161352322227555,
+              1.1602519536489533
+            ],
+            "current_z": 1.1602519536489533,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.29914514761096345,
+            "gripper_z": 1.1527904986782787,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21986762992061773,
+              0.2564872852744626,
+              1.1527904986782787
+            ],
+            "object_minus_gripper": [
+              0.0053983138162736755,
+              0.005126237947812973,
+              0.00746145497067463
+            ],
+            "object_to_gripper_xy": 0.007444468252102968,
+            "object_to_gripper_z": 0.00746145497067463,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2252659437368914,
+              0.23703784892565935,
+              1.1602519536489533
+            ],
+            "finger_b": [
+              0.2142423703703495,
+              0.26161352322227555,
+              1.1602519536489533
+            ],
+            "finger_midpoint": [
+              0.21975415705362045,
+              0.24932568607396743,
+              1.1602519536489533
+            ],
+            "object_minus_finger_midpoint": [
+              0.005511786683270958,
+              0.012287837148308112,
+              0.0
+            ],
+            "finger_gap": 0.026934790455856422,
+            "fingertip_max_gap": 0.09080446785417359,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013467395227928223,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1602519536489533,
+            "object_top_z": 1.2102165363922164,
+            "finger_top_clearance": 0.0499645827432631,
+            "fingertip_min_top_clearance": 0.014989374822978963,
+            "object_projection_between_fingers": 0.8324989278360758,
+            "object_to_finger_line_xy": 0.01005806037678244,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0479022339270868,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.29131757192374347,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2738346581923784,
+              -0.3601741629671516,
+              0.8515395763116311
+            ],
+            "target_position": [
+              0.2643724608462813,
+              -0.3614966168313553,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009554164685593104,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18657964127571616,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395763116311,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544787418368026,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08547311355342087,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15475941830124437,
+            "release_required_pad_clearance": 0.052736556776710436,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5248852772399939,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007871866226196289,
+            "max_z_decrease": 0.007871866226196289,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035123143697988767,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007871866226196289,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021225754267197264,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007871866226196289,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007871887771234367,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12007238715887066,
+              -0.4177580773830414,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12007238715887066,
+              -0.4177580773830414,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12054962158392024,
+              -0.41900624992292373,
+              0.8074534729653663
+            ],
+            "closest_button": [
+              0.12006138265132903,
+              -0.41775462031364435,
+              0.7723560333251953
+            ],
+            "closest_ee_minus_button": [
+              0.00048823893259121454,
+              -0.001251629609279381,
+              0.03509743964017098
+            ],
+            "button_min_z_position": [
+              0.12005429714918135,
+              -0.4177546203136444,
+              0.7689369916915894
+            ],
+            "min_active_finger_to_button": 0.14556922003635336,
+            "closest_active_finger": [
+              -0.02040502429008484,
+              -0.40126919746398926,
+              0.8109169006347656
+            ],
+            "closest_active_finger_button": [
+              0.12007246911525722,
+              -0.4177574217319488,
+              0.7764987349510193
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14047749340534205,
+              0.01648822426795954,
+              0.03441816568374634
+            ],
+            "min_contact_pad_to_button": 0.021225754267197264,
+            "closest_contact_pad": [
+              0.12005429714918135,
+              -0.4202674338631555,
+              0.7900134812540577
+            ],
+            "closest_contact_pad_button": [
+              0.12005429714918135,
+              -0.4177546203136444,
+              0.7689369916915894
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002512813549511106,
+              0.021076489562468326
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "527d7ddb128d00fbca6d697de0e50bc725d131aae7086002de57cfecbb3645a8",
+    "visual_seed": 1102758821257264450,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d1206616306dcc1037fa33ba9af28f436011008
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_96_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21772063708702327,
+              0.25926322951770936,
+              1.1617145936746436
+            ],
+            "current_z": 1.1617145936746436,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.30060802605523296,
+            "gripper_z": 1.1545257364698356,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21246030891577242,
+              0.25408339889876547,
+              1.1545257364698356
+            ],
+            "object_minus_gripper": [
+              0.005260328171250855,
+              0.0051798306189438925,
+              0.007188857204807997
+            ],
+            "object_to_gripper_xy": 0.0073825265126651616,
+            "object_to_gripper_z": 0.007188857204807997,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21772063708702327,
+              0.23508853931718765,
+              1.1617145936746436
+            ],
+            "finger_b": [
+              0.20619482852642002,
+              0.25926322951770936,
+              1.1617145936746436
+            ],
+            "finger_midpoint": [
+              0.21195773280672164,
+              0.2471758844174485,
+              1.1617145936746436
+            ],
+            "object_minus_finger_midpoint": [
+              0.005762904280301628,
+              0.012087345100260855,
+              0.0
+            ],
+            "finger_gap": 0.02678170848297165,
+            "fingertip_max_gap": 0.09072435029387271,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013390854241485825,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1617145936746436,
+            "object_top_z": 1.2116369851186568,
+            "finger_top_clearance": 0.049922391444013225,
+            "fingertip_min_top_clearance": 0.014976717433204001,
+            "object_projection_between_fingers": 0.8147892259704604,
+            "object_to_finger_line_xy": 0.010403849009119975,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04786217514693636,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.28749114517274327,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 362,
+            "max_stable_success_frames": 362,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
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+              0.2770162871319264,
+              -0.35263777539978186,
+              0.8515395733039522
+            ],
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+              0.2674960254764649,
+              -0.35401053181504566,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009618723520514473,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18492209009956362,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395733039522,
+            "min_z": 0.5774145980897916,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
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+            "release_required_pad_clearance": 0.05296354102982176,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
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+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.9626530880177953,
+            "object_max_tilt_deg": 12.0,
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007599353790283203,
+            "max_z_decrease": 0.007599353790283203,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035085483461878834,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007599353790283203,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02108422119545276,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007599353790283203,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007599375307477758,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12319595366716383,
+              -0.4102720022201538,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12319595366716383,
+              -0.4102720022201538,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12257325851214473,
+              -0.4100630665422591,
+              0.8077059626802796
+            ],
+            "closest_button": [
+              0.123184397816658,
+              -0.4102678596973419,
+              0.7726263999938965
+            ],
+            "closest_ee_minus_button": [
+              -0.0006111393045132724,
+              0.00020479315508281637,
+              0.035079562686383126
+            ],
+            "button_min_z_position": [
+              0.12317799031734464,
+              -0.4102699160575867,
+              0.7692095041275024
+            ],
+            "min_active_finger_to_button": 0.14664381122688835,
+            "closest_active_finger": [
+              -0.0039766281843185425,
+              -0.4746669828891754,
+              0.811228334903717
+            ],
+            "closest_active_finger_button": [
+              0.12319534271955487,
+              -0.41027155518531805,
+              0.776805579662323
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12717197090387342,
+              -0.06439542770385737,
+              0.03442275524139404
+            ],
+            "min_contact_pad_to_button": 0.02108422119545276,
+            "closest_contact_pad": [
+              0.12317799031734464,
+              -0.4109552075056993,
+              0.790282585512291
+            ],
+            "closest_contact_pad_button": [
+              0.12317799031734464,
+              -0.4102699160575867,
+              0.7692095041275024
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006852914481125794,
+              0.021073081384788583
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7388499d84f45d41c8385ead66376c1bc03bf8b60a20f10ad9251ea7a07716ea",
+    "visual_seed": 6136000999373037757,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c13731cb78ac070c446621a0639517d3b95d65f6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_97_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+            "active_arm": null,
+            "object_position": [
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+              0.260265048120213,
+              1.1596703916299331
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+            "lift_margin": 0.2985637048012326,
+            "gripper_z": 1.1524094327789522,
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+            "gripper_position": [
+              0.21551427319161784,
+              0.2550814123993181,
+              1.1524094327789522
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+              0.005183635720894919,
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+            "object_to_gripper_z": 0.007260958850980881,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23580672938103525,
+              1.1596703916299331
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+            "finger_b": [
+              0.2096534549480586,
+              0.260265048120213,
+              1.1596703916299331
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+            "finger_midpoint": [
+              0.21526210548092187,
+              0.24803588875062413,
+              1.1596703916299331
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+              0.005608650532863274,
+              0.012229159369588877,
+              0.0
+            ],
+            "finger_gap": 0.02690793932552925,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_top_z": 1.2096445477173425,
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+            "object_projection_between_fingers": 0.8262135655225796,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04786483582507306,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2728955090698915,
+              -0.3556132982538469,
+              0.8515395378572808
+            ],
+            "target_position": [
+              0.26340631739925807,
+              -0.35684517515292,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009568818069985925,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18612783543221403,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395378572808,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15446916772715255,
+            "release_required_pad_clearance": 0.052561540076634425,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.18974555080251354,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007591366767883301,
+            "max_z_decrease": 0.007591366767883301,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513020279573532,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007591366767883301,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021091602466629333,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007591366767883301,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0075913930909212255,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11910624057054521,
+              -0.41310662031173706,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11910624057054521,
+              -0.41310662031173706,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12027272032972575,
+              -0.4117497775269684,
+              0.8076656888234989
+            ],
+            "closest_button": [
+              0.11909545212984088,
+              -0.4131023287773132,
+              0.7725812792778015
+            ],
+            "closest_ee_minus_button": [
+              0.0011772681998848677,
+              0.00135255125034478,
+              0.03508440954569736
+            ],
+            "button_min_z_position": [
+              0.11908645927906038,
+              -0.4131037294864654,
+              0.7692174911499023
+            ],
+            "min_active_finger_to_button": 0.14459972167990756,
+            "closest_active_finger": [
+              -0.00621449202299118,
+              -0.4764784872531891,
+              0.8106986880302429
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+            "closest_active_finger_button": [
+              0.11910728365182878,
+              -0.41310450434684753,
+              0.7762418985366821
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12532177567481995,
+              -0.06337398290634155,
+              0.03445678949356079
+            ],
+            "min_contact_pad_to_button": 0.021091602466629333,
+            "closest_contact_pad": [
+              0.11908645927906038,
+              -0.4131037294864654,
+              0.7903090936165317
+            ],
+            "closest_contact_pad_button": [
+              0.11908645927906038,
+              -0.4131037294864654,
+              0.7692174911499023
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021091602466629333
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9c7118d66af1de407e81d51a798b6907a3f7a6f73ba517c969d027b003f64e53",
+    "visual_seed": 3461047433203337879,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c361e9654594e602e65cb5bd6ae734ce046b5b9b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_98_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
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+            "object_position": [
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+              0.2650024271896172,
+              1.1627626896500693
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+            "lift_margin": 0.30165582400743474,
+            "gripper_z": 1.1553606781242938,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21304364965980907,
+              0.259804741418036,
+              1.1553606781242938
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+              0.005118237632139672,
+              0.005197685771581195,
+              0.007402011525775576
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+            "object_to_gripper_z": 0.007402011525775576,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.21816188729194874,
+              0.24086367279208326,
+              1.1627626896500693
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+            "finger_b": [
+              0.20672025922193213,
+              0.2650024271896172,
+              1.1627626896500693
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+            "finger_midpoint": [
+              0.21244107325694045,
+              0.2529330499908502,
+              1.1627626896500693
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+            "object_minus_finger_midpoint": [
+              0.0057208140350082926,
+              0.012069377198766995,
+              0.0
+            ],
+            "finger_gap": 0.026713111326782134,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.2127399568254131,
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+            "object_projection_between_fingers": 0.8165462033067903,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047868631770029535,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2316030921156107,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 361,
+            "max_stable_success_frames": 361,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27800757750308075,
+              -0.36100547429890045,
+              0.8515395565353108
+            ],
+            "target_position": [
+              0.2686970026255382,
+              -0.3622380174622968,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009391803192143753,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18576005211175095,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395565353108,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526322082427767,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08626092082051494,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15434809538848474,
+            "release_required_pad_clearance": 0.05313046041025747,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2869236852276447,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007517874240875244,
+            "max_z_decrease": 0.007517874240875244,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035121555908498886,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007517874240875244,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021068654572957164,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007517874240875244,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007517898776569009,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1243969276547432,
+              -0.4184994697570801,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1243969276547432,
+              -0.4184994697570801,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12378969884050295,
+              -0.41764420270827224,
+              0.8082508099641236
+            ],
+            "closest_button": [
+              0.12439334392547609,
+              -0.4184987545013428,
+              0.7731448411941528
+            ],
+            "closest_ee_minus_button": [
+              -0.0006036450849731395,
+              0.0008545517930705349,
+              0.03510596876997074
+            ],
+            "button_min_z_position": [
+              0.12437801808118822,
+              -0.4184961020946502,
+              0.7692909836769104
+            ],
+            "min_active_finger_to_button": 0.1463689630333041,
+            "closest_active_finger": [
+              -0.0043305158615112305,
+              -0.4791278839111328,
+              0.8107477426528931
+            ],
+            "closest_active_finger_button": [
+              0.12439697980880737,
+              -0.41849914193153376,
+              0.7764365077018738
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1287274956703186,
+              -0.060628741979599055,
+              0.03431123495101929
+            ],
+            "min_contact_pad_to_button": 0.021068654572957164,
+            "closest_contact_pad": [
+              0.12437801808118822,
+              -0.41889914101162506,
+              0.7903557828723927
+            ],
+            "closest_contact_pad_button": [
+              0.12437801808118822,
+              -0.4184961020946502,
+              0.7692909836769104
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004030389169748516,
+              0.02106479919548232
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2f8496d6d413024c2797c51e945aaeb9b1be325aedf9929a34a1b0fd454dd4c6",
+    "visual_seed": 6797125432329179472,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..35dc2253b3c00794b6396b3c67ccc30a0b66963e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_99_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.22186748605142328,
+              0.2582481363688296,
+              1.1630816830250583
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+            "lift_margin": 0.3019748173824238,
+            "gripper_z": 1.1556647829095812,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.21668294700971713,
+              0.25316465649222264,
+              1.1556647829095812
+            ],
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+              0.005184539041706154,
+              0.0050834798766069555,
+              0.007416900115477132
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+            "object_to_gripper_z": 0.007416900115477132,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22186748605142328,
+              0.23395777450237387,
+              1.1630816830250583
+            ],
+            "finger_b": [
+              0.2107305222969187,
+              0.2582481363688296,
+              1.1630816830250583
+            ],
+            "finger_midpoint": [
+              0.21629900417417097,
+              0.24610295543560173,
+              1.1630816830250583
+            ],
+            "object_minus_finger_midpoint": [
+              0.005568481877252313,
+              0.012145180933227862,
+              0.0
+            ],
+            "finger_gap": 0.02672178215000855,
+            "fingertip_max_gap": 0.09063993616866764,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01336089107500428,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1630816830250583,
+            "object_top_z": 1.2130281231554743,
+            "finger_top_clearance": 0.04994644013041594,
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+            "object_projection_between_fingers": 0.8262988177637303,
+            "object_to_finger_line_xy": 0.010123609202855172,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04781996808433382,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2525003413196706,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
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+              1.0
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+                "Robotiq2F85",
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+                "elbow_joint",
+                "festo",
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+                "fr3_duo_mobile",
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+                "joint3",
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+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "desk",
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+                "workbench"
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27304162901454476,
+              -0.35737026349390066,
+              0.8515395689112516
+            ],
+            "target_position": [
+              0.2644000039397753,
+              -0.3582754108345923,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008688899564458397,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18723329613426956,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395689112516,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15546368877944128,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6039293566984434,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007753729820251465,
+            "max_z_decrease": 0.007753729820251465,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035076943024620964,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007753729820251465,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0211036720076445,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007753729820251465,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0077537568555494955,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12009993195533751,
+              -0.4145368635654449,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12009993195533751,
+              -0.4145368635654449,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11972251232408354,
+              -0.4146127508530809,
+              0.8073974655923939
+            ],
+            "closest_button": [
+              0.1200895756483078,
+              -0.41453227400779724,
+              0.7723225355148315
+            ],
+            "closest_ee_minus_button": [
+              -0.00036706332422425936,
+              -8.047684528367238e-05,
+              0.03507493007756235
+            ],
+            "button_min_z_position": [
+              0.120079904794693,
+              -0.4145326018333435,
+              0.7690551280975342
+            ],
+            "min_active_finger_to_button": 0.14656290170811387,
+            "closest_active_finger": [
+              -0.021689020097255707,
+              -0.40102618932724,
+              0.8106579780578613
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+            "closest_active_finger_button": [
+              0.12010159343481064,
+              -0.41453489661216736,
+              0.7761091589927673
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14179061353206635,
+              0.013508707284927368,
+              0.034548819065093994
+            ],
+            "min_contact_pad_to_button": 0.0211036720076445,
+            "closest_contact_pad": [
+              0.120079904794693,
+              -0.41551198429685726,
+              0.7901360621896564
+            ],
+            "closest_contact_pad_button": [
+              0.120079904794693,
+              -0.4145326018333435,
+              0.7690551280975342
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000979382463513756,
+              0.021080934092122194
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7544707110022933641,
+    "physical_seed": 5269353922247685169,
+    "layout_id": "layout_00048",
+    "step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "workflow_spec_digest": "8895bb223893b31be87194093c367c5847ecaa5e1788a09cec8e7e2ef4b8da1e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3cf5ec2ace890cfe5ed301f988054abf062d3f5aaba35adcda935b076367af2c",
+    "visual_seed": 8997868519377573744,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4575888215738575954,
+      3436277163877962503,
+      6082843758319043955
+    ],
+    "runtime_workflow_digest": "f3b56040ee50218a65cf78a39d8669caa922d9b61dbd2c7ceb357dafadc1f773"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4380fce5c93002fee1d0350709789c84c647f2b3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/episode_9_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.2680574632951119,
+              1.1631050579128759
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+            "lift_margin": 0.3019984306888204,
+            "gripper_z": 1.1555848354563243,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.2190983077308745,
+              0.2628125012422134,
+              1.1555848354563243
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+              0.0053644542472374435,
+              0.005244962052898483,
+              0.007520222456551595
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+            "object_to_gripper_z": 0.007520222456551595,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22446276197811194,
+              0.2438462305641378,
+              1.1631050579128759
+            ],
+            "finger_b": [
+              0.21280053052956452,
+              0.2680574632951119,
+              1.1631050579128759
+            ],
+            "finger_midpoint": [
+              0.21863164625383824,
+              0.2559518469296248,
+              1.1631050579128759
+            ],
+            "object_minus_finger_midpoint": [
+              0.005831115724273694,
+              0.01210561636548707,
+              0.0
+            ],
+            "finger_gap": 0.026873619642930113,
+            "fingertip_max_gap": 0.09086645579596025,
+            "finger_z_skew": 0.0,
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+}
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/summary.json
new file mode 100644
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+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00048/results/summary.json
@@ -0,0 +1,9 @@
+{
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+  "published_successes": 100,
+  "published_failures": 0,
+  "matched_success_results": 100
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0000.h5
new file mode 100644
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--- /dev/null
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0001.h5
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